Design and Implementation of Pso Based Pid Controller for Ma2000 Robot

ISBN-13: 9783659321108 / Angielski / Miękka / 2013 / 140 str.

Al-Saedi Firas Abdullah Thweny;Al-Yasiri Ali Hadi Mohammed

Opis

In this book, a complete control system is proposed to control the TQ MA2000 which is a six degree of freedom (DOF) complex structure robotic manipulator arm. The kinematics of the MA2000 manipulator were derived and verified with the aid of Matlab. The implemented control scheme is a networked control system (NCS), where two PCs interacted via a computer network to form the overall control and tuning entities. The control system utilized the proportional-Integral-Derivative (PID) algorithm to control the MA2000 manipulator, where each joint was treated as a separate Single Input Single Output (SISO). Particle Swarm Optimization (PSO) algorithm was used to tune the individual PID controllers of the robotic arm. The tuning process was considered as a nonlinear optimization problem, where a certain fitness function was minimized in order to obtain the desirable transient response for each joint. Finally, a set of tests were conducted against the tuned controllers where satisfactory results were obtained.

O autorze

Al-Saedi, Firas Abdullah ThwenyFiras Al-Saedi is the Rapporteur of the Computer Engineering Department at Al-Nahrain University, Baghdad, Iraq. He has a Ph.D. in Electronics and Communication Engineering.