![[Graphics:../HTMLFiles/index_623.gif]](../HTMLFiles/index_623.gif)
Control experiment #2(b): PID with gravity compensation
Control simulation specifications
| Kp gains: | 16 | 8 | |
| Kv gains: | 8 | 4 | |
| Ki gains: | 4 | 2 | |
| Robot type: | 2 | ||
| Controller type: | 4 | ||
| Start: | 0s | 0rad | 0rad |
| Goal: | 10s | 0.7854rad | 1.5708rad |
| Simulation time: | 15s | ||
| Control frequency: | 100Hz | ||
Visualization of results
Join trajectories
Error plot
![[Graphics:../HTMLFiles/index_624.gif]](../HTMLFiles/index_624.gif)
Applied torques
![[Graphics:../HTMLFiles/index_625.gif]](../HTMLFiles/index_625.gif)
Animation
![[Graphics:../anim05.gif]](../anim05.gif)
Created by Mathematica (November 18, 2003)