PD+G set-Point Controller for the Second and Third Joint of a ER-4u Scorbot Robot

This article describes the implementation of a set-point PD+G controller for the second and third joint of SCORBOT ER-4u robot, which has movement in the vertical plane. The dynamic parameters of the robot were made through laboratory measurements and calculations in a CAD model. The dynamic model was obtained by the Euler-Lagrange method, allowing the study of the robot behavior and the PD+G simulation controller. Finally PD+G controller was implemented in the FPGA of the NI Compact RIO 9074, allowing to test the physical system under the same conditions used for the simulation. In this way, it is possible to perform the comparison of the graphs of time versus position error for both simulation and physical system.