<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC) algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.</p></abstract>

This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC) algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.

Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

Modern University for Technology and Information

Electrical, Control and Communication Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal...

Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

Online veröffentlicht: 29. Dez. 2017

Seitenbereich: 55 - 62

DOI: https://doi.org/10.1515/ecce-2017-0008

Schlüsselwörter
Artificial intelligence, Control systems, Evolutionary computation, Robotic manipulators, Trajectory optimization

© 2017 Nasr A. Elkhateeb et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

Online veröffentlicht: 29. Dez. 2017

Seitenbereich: 55 - 62

DOI: https://doi.org/10.1515/ecce-2017-0008

SchlüsselwörterArtificial intelligence, Control systems, Evolutionary computation, Robotic manipulators, Trajectory optimization

© 2017 Nasr A. Elkhateeb et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Schlüsselwörter
Artificial intelligence, Control systems, Evolutionary computation, Robotic manipulators, Trajectory optimization