He objective of this paper is to learn how to design proportional and derivative gain if we want to applied for certain system, in this case for arm robot system. Control is said as the process of causing a system variable to conform to some desired value. Popular control systems are open loop and closed loop systems. The difference of them is that closed loop systems use feedback control. If we want to obtain more accurate control, the controlled signal should be fed back and compared with the reference input, and an actuating signal proportional to the difference of the input and the output must be sent through the system to correct the error. The use of feedback to be for the purpose of reducing the error between the reference input and the system output. However, the significance the effects of feedback in control systems is more complex. A system with one or more feedback paths such as that just described is called a closed loop system. Feedback control that used in this case, arm robot system, is proportional gain (g) and derivative gain or rate signal (f). Feedback control technique is used to obtain more accurate control. In feedback systems, the variable being controlled is measured by a sensor, and the information is feedback to the process for influence controlled variable. If we want to rotate the arm of the robot to the reference position as speedy as possible, we must design the controller for this system. For design proportional and derivative gain for arm robot system, one of the simple method is pole assignment. By this method we can defines that a certain system stable or not stable.
Keywords : open loop, closed loop, feedback control, proportional gain, derivative gain, pole assignment, arm robot system.
Ferry Hadary
Keywords : open loop, closed loop, feedback control, proportional gain, derivative gain, pole assignment, arm robot system.
Ferry Hadary
