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Control of Bionic Robot Leg Performance with Proportional Integral and Derivative Controller

W. Widhiada, T. G. T. Nindhia, I. M. Widiyarta, and I. N. Budiarsa
Mechanical Engineering Department, University of Udayana, Campus Bukit, Jimbaran, Badung, Bali, 80362, Indonesia

Abstract— False limbs are aids for people with disabilities who have not been able to make users move freely like normal people. In this study, the concept of PID control prosthetic limbs was developed with a robot function that resembles the function of the knee ankle joints. By using PID control that the motion of the robot leg can be controlled accurately. The PID parameters obtained for the knee are kp = 2, ki = 18 and kd = 0.5, while for the ankle that is kp = 1, ki = 1.5 and kd = 0.5. The performance of motion bionic robot leg is obtained with small overshoot signal, small error signal and quickly to achieve stable response are 3,432%, 3.69% and 0.877s respectively.

 
Index Terms—PID control, bionic robot leg, electromyography, dc motor, performance

Cite: W. Widhiada, T. G. T. Nindhia, I. M. Widiyarta, and I. N. Budiarsa, "Control of Bionic Robot Leg Performance with Proportional Integral and Derivative Controller," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 10, pp. 1447-1450, October 2020. DOI: 10.18178/ijmerr.9.10.1447-1450

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

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