Introduction to Robotics
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Explain PID gains back in one sentence
In 40 seconds you will explain what each PID gain does
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Lesson notes
Explain open vs closed loop and the effect of P, I and D terms on response
Key points
- Closed-loop control holds a motor joint at 90 degrees by measuring the angle and correcting the error.
- Raising Kp speeds response but adds overshoot, Ki removes steady-state error, and Kd damps oscillation.
Takeaway: More Kp is not always better: it brings overshoot and instability.
Quick check: Constant load leaves joint at 87°, not 90°. Which gain fixes it?
- Increase Kd
- Increase Ki
- Decrease Kp
The integral term accumulates leftover error until steady-state error is zero.
closed-loop controlPID controllersteady-state errorovershootClosed-loop controlP, I and D
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