2D ARTICULATED ROBOT ARM (MATTER.JS PHYSICS)
UNSTABLE - RUNAWAY FEEDBACK
Drag red setpoint target or robot joints directly on canvas
PID Gains Tuning
Proportional Gain (Kp)
4.5
Integral Gain (Ki)
0.20
Derivative Gain (Kd)
1.2
Sensor & Loop Dynamics
Sensor Latency (ms)
120 ms
Max Torque Clamp (Nm)
450 Nm
Invert Encoder Sign (+ Feedback)
Fault Injections
Live Telemetry Oscilloscope
● Angle Error
Control Torque Drive
● Drive PWM Signal
System Metrics
Oscillation Freq
4.2 Hz
Peak Joint Torque
450 Nm
E-Stop Stop Time
320 ms
Joint Error Peak
48.5°
🔍 Control Mechanics Diagnostic
Positive Feedback Loop Triggered: Encoder polarity sign inversion causes the PID controller to drive motors in the direction of error instead of correcting it, leading to exponential torque acceleration until limiters clamp.