Design and implementation of PSO based PID controller for Ma2000 robot
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- Englisch ausgewählt
Fr. 81.90
inkl. gesetzl. MwSt.,
Beschreibung
Produktdetails
Einband
Taschenbuch
Erscheinungsdatum
21.01.2013
Verlag
LAP LAMBERT Academic PublishingSeitenzahl
140
Maße (L/B/H)
22/15/0.9 cm
Gewicht
227 g
Sprache
Englisch
ISBN
978-3-659-32110-8
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.
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