PID CONTROL METHOD

摘要

The proportional integral and differential (PID) control method maintains current contour of a robot arm to reference contour with reference speed and compensates inertia variation of a robot arm. The method comprises the steps of: (A) controlling speed and accerleration according to the position data and feedforward gain; (B) comparing feedbacked position data with reference position data to calculateg control input using PID control scheme; and (C) adding control input of the steps (A) and (B).