TY  - JOUR
T1  - Design and Construction of a Four-Degree Freedom Robot with PID Controller
AU - Andres Otalora Castro, Oscar AU - Aroca Trujillo, Jorge Luis AU - Angel Tovar Cardozo, Miguel AU - Rodriguez Serrezuela, Ruthber 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 24
SP  - 9583
EP  - 9591
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.9583.9591
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.9583.9591
KW  - Kinematics
KW  -dynamics
KW  -DH parameters
KW  -PID control
KW  -four-degree
KW  -MATLAB
AB  - At present, robotic arms are used in many applications, mostly in the field of industry. For fields such
as the medical care area, a high precision control in robotics is used. Therefore, the control method that is
applied to these systems is important. In this document, a four-degree freedom robotic robot was designed from
solidwork. A Proportional-Integral-Derivative (PID) controller was applied based on its kinematics and
dynamics found. Both the robot function and the response of the controller were tested. The process of
controlling the robotic arm designed and simulated is obtained with MATLAB.
ER  -