This ROS package enables the simulation of the dynamics and control of a three-degree-of-freedom SCARA-type robot. Each joint is equipped with a PID controller that receives position commands and calculates the torque or force required to reach the setpoint. The PID control gains can be tuned independently.
scara_video_v2.mp4
The video demonstrates the process of automatically tuning the PID control gains associated with each of the robot's controllers using the pid_tuning package for trajectory tracking.