From simulation to reality: a learning methodology for understanding control systems and robotic arms with the ARCHIE robot
Journal
Frontiers in Education
Date Issued
2026-04-10
Author(s)
Saeteros, Juan
Mendoza, Erick
Ramirez, Jefferson
Fajardo-Pruna, Marcelo
Yumbla, Francisco
Saldarriaga, Carlos
Type
Article
Abstract
Bridging the gap between theoretical concepts and real-world implementation remains a critical challenge in the teaching of control systems and robotics. This paper presents an education method using ARCHIE, a low-cost, open-source articulated robot with six degrees of freedom, as an educational platform designed to enhance students’ understanding of control theory through practical learning. The study combines simulation (using MATLAB’s Simscape) with hands-on practice using the physical robot, following a Sim2Real methodology. A two-hour workshop was conducted with undergraduate mechatronics engineering students, incorporating pre- and post-assessments to evaluate learning gains. Preliminary results suggest a statistically significant improvement in students’ understanding of PID control concepts, with average test scores rising from 46.6% to 63.3% (p = 0.0454, two-tailed). The study also highlights the benefits of active learning, allowing students to experience real-world control system behavior and reflect on discrepancies between simulations and physical implementation. ARCHIE proves to be a valuable educational tool for fostering deeper comprehension of control systems in engineering curricula. © 2026 Saeteros, Mendoza, Ramirez, Fajardo-Pruna, Buele, Yumbla and Saldarriaga.