DESIGN AND IMPLEMENTATION OF PSO BASED PID CONTROLLER FOR MA2000 ROBOT
- Editore:
LAP Lambert Academic Publishing
- EAN:
9783659321108
- ISBN:
3659321109
- Pagine:
- 140
- Formato:
- Paperback
- Lingua:
- Tedesco
Descrizione DESIGN AND IMPLEMENTATION OF PSO BASED PID CONTROLLER FOR MA2000 ROBOT
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.
