Design and simulation of robotic arm PD controller based on PSO
Joint Authors
Majid, Ammar Ibrahim
Shurayqi, Mushriq Abd al-Husayn
Uqlah, Adnan A.
Sawadi, Salah Mahdi
Source
Thi-Qar University Journal for Engineering Sciences
Issue
Vol. 10, Issue 1 (31 May. 2019), pp.18-24, 7 p.
Publisher
University of Thi-Qar College of Engineering
Publication Date
2019-05-31
Country of Publication
Iraq
No. of Pages
7
Main Subjects
Abstract EN
This paper deals with design and simulation of Proportional plus Derivative (PD) controller for two links robotic arm.
The PD controller was used to compute the required joint’s torque for tracking the desired trajectory.
The Particle Swarm Optimization (PSO) algorithm has been used in order to tune the gains of the proportional and derivative parts of PD controller.
Simulation results show an efficient and robust behavior of the proposed controller.
Two cases of simulation tests were carried out.
The first was tracking a sine wave trajectory while the second was tracking the same trajectory with the presence of disturbance torque on the dynamic model of the robotic arm.
The simulation results were compared with the presence of disturbance torque on the dynamic model of the robotic arm.
The simulation results were compared with the results obtained by other researchers, for similar robotic arm properties and same trajectory.
The proposed controller offers a simple method for trajectory tracking problem with a satisfactory efficiency.
A Mean Square Error (MSE) criterion was used to study the efficiency of the proposed controller in tracking the desired trajectory.
American Psychological Association (APA)
Sawadi, Salah Mahdi& Majid, Ammar Ibrahim& Shurayqi, Mushriq Abd al-Husayn& Uqlah, Adnan A.. 2019. Design and simulation of robotic arm PD controller based on PSO. Thi-Qar University Journal for Engineering Sciences،Vol. 10, no. 1, pp.18-24.
https://search.emarefa.net/detail/BIM-910445
Modern Language Association (MLA)
Sawadi, Salah Mahdi…[et al.]. Design and simulation of robotic arm PD controller based on PSO. Thi-Qar University Journal for Engineering Sciences Vol. 10, no. 1 (May. 2019), pp.18-24.
https://search.emarefa.net/detail/BIM-910445
American Medical Association (AMA)
Sawadi, Salah Mahdi& Majid, Ammar Ibrahim& Shurayqi, Mushriq Abd al-Husayn& Uqlah, Adnan A.. Design and simulation of robotic arm PD controller based on PSO. Thi-Qar University Journal for Engineering Sciences. 2019. Vol. 10, no. 1, pp.18-24.
https://search.emarefa.net/detail/BIM-910445
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 24
Record ID
BIM-910445