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Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization
Joint Authors
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-01
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics.
The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator.
Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion.
Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study.
The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.
American Psychological Association (APA)
Mahmoodabadi, M. J.& Ziaei, A.. 2019. Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization. Journal of Robotics،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1186972
Modern Language Association (MLA)
Mahmoodabadi, M. J.& Ziaei, A.. Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization. Journal of Robotics No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1186972
American Medical Association (AMA)
Mahmoodabadi, M. J.& Ziaei, A.. Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1186972
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186972