Comparative Study of a PID and PD Control Bounded by Hyperbolic Tangent Function in Robot 3 DOF

In this paper are presented the results of the PID and PD Control Bounded by Hyperbolic Tangent Function control of a robotic structure of 3 degrees of freedom (GLD) this laws are studies on constant reference position and trajectory tracking also are added the mathematical models in order to properly assess the structure, are shown simulations of position in MATLB this values are compared with the results PID controller experimental position that develops in the LabVIEW software where the control law was implemented and integrated solved with Runge Kutta numerical method. Two DAQ for communication between the arm robot and the PC are used. The building structure consists of a system of direct current motors (DC), aluminum links and magnetic induction encoders.