Double loop

Question

I am working on a robotic project that includes controlling the position of a large robotic arm. It was suggested to use a double PID loop, and I wonder what is connected with this.

As I was told, the first PID loop should deal with the speed of the hand (since it is expected to be heavy and long and thus “harder”), and then a second to control the position and feed its value to the first PID .

I used PID before, following the wikipedia table to calibrate the loop. (AKA: don't assume that I can use a complicated method to calibrate the loop)

So, I'm looking for some good sources to help on how to calibrate the loops, as well as some information (pseudo-code) on how to do this, plus if that's even a good idea.

Answer 1

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Answer 2

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