Deah Michael,

Thanks for your reply , So What I have understood that I do not need to use the slider gain , since I want my robot to move in a fixed cycle (i.e Start from one position and go to another one and back to the starting position). So I just need your confirmation please, I have build my own sine-wave function (with some specification ) , and in order to control the movement of my robot I fed this signal to the PID controller, Is there any need to use a step signal in some manner??? Also Is there any need to change the revolute starting position?

Thanks for response, waiting your reply ASAP.

Regards

Farah

Hello Michael,

Thanks for your time, it is highly appreciated.

Farah

Hi Farah

It looks like both the input signal and the slider are doing the same. What you have is a closed-loop system with a PID controller working. The PID controller regulates or adjust the position of your robot with respect to an input signal, which in this case is a reference signal or desired position. The PID controller needs a reference signal or desired position to compare that signal with the actual position of your robot and then compute a control action to correct the error between the desired position and the actual position.

Your robot can follow the position indicated by the slider, which is a manual input of the reference signal, or follow any signal that is inputted as a reference.

Thanks for clarification Carlos.