Servo Motor Controller using PID and Graphical User Interface on Raspberry Pi for Robotic Arm

Abstract The usage of the robotic arm in industries has been growing as can provide many advantages to industries. However, challenges faced by One problems is error angle position caused movement arm’s joint which affects precision desired end-effector. Therefore, this paper aims study solution PID controller increase accuracy end-effector X-Y plane using forward kinematic. It describes mechanical system, design concept, and prototype a 6 DOF arm. Initially, for 2D captured manually trigonometric calculation. Then, reduce error, coefficient controller, k p , i d are tuned automatically Simulink MATLAB. programmed on Raspberry Pi with servo driver, PCA9685. There six motors used joints arm, namely MG996R. Each motor be controlled Graphical User Interface (GUI) scripted Python Programming Language. end will displayed GUI. found that reduced from 4.7° 0° controller.