Robotic Joint PID Controller

Every closed-loop robot joint — an industrial arm, a warehouse robot's drive wheel, a drone's gimbal — is ultimately a small motor being told where to point by a PID controller reading a position sensor. This simulator models one such joint as a real rotating rigid link with inertia, viscous friction and a gravity load, driven by a torque-saturated PID loop you tune directly: proportional, integral and derivative gains, a target-angle slider, a step-input button and a disturbance push. Watch the 3D arm settle toward the yellow target marker while a live strip chart traces the angle over time, and read off overshoot and settling time exactly as a controls engineer would when tuning a real servo drive.