Pid Control and its Application in a Two-Joint Robot Manipulator

This paper presents the control analysis of a two-degree-of-freedom (2DOF) robotic manipulator using a Proportional–Integral–Derivative (PID) control algorithm. The manipulator’s dynamic equations were derived via the Lagrange method and simulated in MATLAB. System stability was analyzed for different PID parameter sets (Kp=100, Ki=20, Kd=10). The results demonstrate that properly tuned PID coefficients enhance motion precision, reduce oscillations, and minimize tracking error. The obtained outcomes have practical significance for achieving smooth and accurate control of robotic manipulators in industrial automation applications.