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Unread 07-02-2014, 15:43
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Re: Arm Position Control

-In the context of an arm, velocity PID is useless. It would not provide the desired response at all.[/quote]

Maybe i read his question wrong but if you are wanting to move the arms from 0 deg to 180 deg and have your controller take into account the increased torque a velocity PID controller would be perfect for this.

This would allow the arms to move at a constant angular rate regardless of the torque needed.

However this would not allow the arm to stop right at 0 and 180 deg. To do this you would need to transition from the velocity control to a position control when you got close to your desired position.