Real-Arm PID Tune

Key Insight

A simulator hides the messiest part of real motors: friction. On a physical hobby arm the joints stick before they slip (stiction) and drag once moving, so PID gains that looked perfect in simulation buzz or sag on hardware. This project has you tune the joint PIDs by feel or with a recipe like Ziegler-Nichols, measure how much torque each joint loses to friction, and add a friction-compensation feedforward term that pre-cancels that drag — the single change that most often turns a sloppy real arm into a precise one.