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All Journal JURNAL INTEGRASI Journal of Applied Electrical Engineering Journal of Community Service and Empowerment Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam Engagement: Jurnal Pengabdian Kepada Masyarakat
Hendawan Soebhakti
Politeknik Negeri Batam
Religion Arts Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Mechanical Engineering Social Sciences Other

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Dynamic Modeling and PID Control of a 6-DOF Robotic Arm Using ROS and Gazebo Firdaus, Ahmad Riyad; Cyrillus Rudi Soru; Hendawan Soebhakti
Journal of Applied Electrical Engineering Vol. 9 No. 2 (2025): JAEE, December 2025
Publisher : Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/jaee.v9i2.11027

Abstract

This paper presents the dynamic modeling and control evaluation of a six degrees-of-freedom (6-DOF) robotic manipulator. The manipulator was developed in the Robot Operating System (ROS) and Gazebo using a detailed URDF model with complete geometric and inertia parameters. Proportional–Integral–Derivative (PID) controllers were tuned through ROS dynamic reconfiguration and tested under four payloads: 0; 0,19; 0,39; and 0,50 kg. Controller performance was assessed using rise time, settling time, overshoot, and steady-state error. The results show stable responses across all conditions, with no overshoot and near-zero steady-state errors. Increasing payloads generally led to longer rise and settling times, while joints aligned with gravity exhibited faster responses under heavier loads. These findings confirm that properly tuned PID controllers can maintain robust and accurate manipulator performance and demonstrate the effectiveness of ROS–Gazebo as an open-source platform for robotic control experimentation and future integration of adaptive or AI-based methods.
Co-Authors Adlian Jefiza Ahmad Riyad Firdaus Analia, Riska Andi Hartanto ANUGERAH WIBISANA Anugerah Wibisana Arif Febriansyah Juwito Ata, Tajdar Hal Budi Sugandi Budiana, B. Cyrillus Rudi Soru Eka Mutia Lubis Eka Mutia Lubis Eko Rudiawan Jamzuri Fatekha, Rifqi Amalya Fitriyanti Nakul Hasnira, H. Heru Wijanarko Ika Karlina Laila Nur Suciningtyas Ika Karlina Laila Nur Suciningtyas Ikhwan Heprilnez Pratama Ilham Kurnia Ira Zamzami Jefiza, Adlian Juliansyah Yangu Kaputra, Aldi Lindawani Siregar Lubis, Eka Mutia MOCHAMAD ARI BAGUS NUGROHO Mulyadi, Indra Hardian Nanta Fakih Prebianto Nur Sakinah Asaad Pangantar, Robbi Hermawansya Prasetyo, Naufal Abdurrahman Pratama, Adhitya Prayoga , Senanjung Prayoga, Senanjung Puspita, Widya Rika Qoriatul Fitriyah Rabiah Al Adawiyah Anwar Ridwan Ridwan Rifqi Amalya Fatekha Riska Analia Rogen Samuel Hasibuan Ryan Satria Wijaya S. Susanto, S. Salman Alfarizi Susanto Susanto Susanto Susanto Vivin Oktowinandi Widya Rika Puspita