How to control a Revolute Joint using PID in a manupilator ?

I have imported a CAD model from PTC Creo and I want to control the joints using PID controller. I need a circuit to control the joint. Any help is appreciated.

PFA

[Devarsh Patel]

I am also working on a similar type of system so could you please share the system's behavior in any way?

Thanks

D

[Tasneem Khan]

Here is the result the robot moves like crazy when I press the start button