I am using your motor Dynamixel XH series for my Buliding 3 degree of freedom Robotic arm and it’s showing that it used PID controller for controlling but when i Used with U2D2 communication converter with U2D2 power hub then it’s controlling by python or any of language by SDK…
So i am having queries where is the pid controller used. Is it inside the U2D2 communication converter because for controlling any motor we required a controller…
So please help me in this.
And if any more technical sheet along with simulation and modeling if possible please let me know if you can share i will be happy.
The PID Controller is built-in/coded inside the firmware for each ROBOTIS Dynamixel - not in the U2D2. For example the ROBOTIS e-manual provides the following information for the XH540-V270 and its PID coefficients when in Position Control mode:
But watch out, the factory default values are usually only set for the P coefficient
Have you seen the following two posts about PID tuning (just on a typical “bare” dynamixel):
Unfortunately, I have never used Matlab so I can’t help you much for this issue, except that you need to use Dynamixel SDK which has a MATLAB port. There are lots of information and example codes at this ROBOTIS link