DEVELOPMENT OF A DIDACTIC ROBOTIC ARM WITH PID CONTROL BASED ON AN ULTRASONIC SENSOR

Abstract

The advancement of robotics has driven the development of automated systems capable of performing tasks with precision, repeatability, and efficiency. In this context, robotic manipulators stand out for their wide application in industrial environments, being used in processes such as assembly, parts transportation, and repetitive operations. Simultaneously, the use of low-cost platforms has enabled the creation of didactic robotic systems, geared towards teaching and research. These systems allow the integration of fundamental concepts of electronics, programming, and control, becoming relevant tools for academic training in engineering and related areas. One of the challenges in these systems is the implementation of control strategies that are both efficient and easy to apply. In this context, the proportional-integral-derivative (PID) controller stands out as one of the most widely used techniques, due to its simplicity and its ability to improve the dynamic performance of control systems (OGATA, 2010). Given this scenario, this work aims to develop and analyze a small-scale educational robotic arm capable of adjusting its position based on readings from an ultrasonic sensor. To achieve this, an Arduino Uno microcontroller is used for data acquisition and actuator control, with the system composed of servomotors responsible for the manipulator's movements. As a control strategy, a discrete-time PID controller is implemented, associated with a moving average filter, in order to reduce noise in the measurements and improve system stability. The distance measured by the sensor is converted into an angular reference through linear mapping, allowing control of the robotic arm's positioning. System validation is performed through simulations in the Tinkercad environment, complemented by analyses in MATLAB/Simulink, enabling the evaluation of the controller's dynamic behavior and the system's performance under different operating conditions. As a contribution, this work presents a low-cost educational solution for teaching control and automation systems, integrating theoretical and practical concepts in an accessible and functional experimental application.