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Re: Arm Position Control
I'll add (how did I forget this!?) that the last time we used PID control for an arm we counter-balanced it with a pneumatic cylinder using flow control to dampen the arm's motion and a secondary regulator to fine-tune the cylinders force and easily bleed off pressure when the arm was compressing the cylinder. The PID loop then became a P-only loop with very good control, no I or D to tune or deal with at all, and thus no wind-up issues.
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Theory is a nice place, I'd like to go there one day, I hear everything works there.
Maturity is knowing you were an idiot, common sense is trying to not be an idiot, wisdom is knowing that you will still be an idiot.
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