Module 9 : Robot Dynamics & controls
Lecture 33 : Actuator dynamics and PD, PID control for robots.
Simulation Model :
 
 
Figure 33.7 Effect of variation of derivative gain
  Summary:

Strategy simple to implement.

PD control is good for slow point-to-point motions of robot.

Large gain values are required to reject disturbances and reduce steady state error.

Steady state error cannot be eliminated.
Often leads to saturation of input voltage.
   
1