Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm
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 j...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2017-12-01
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| Series: | Electrical, Control and Communication Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/ecce-2017-0008 |
| _version_ | 1811289757247864832 |
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| author | Elkhateeb Nasr A. Badr Ragia I. |
| author_facet | Elkhateeb Nasr A. Badr Ragia I. |
| author_sort | Elkhateeb Nasr A. |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-13T04:00:03Z |
| format | Article |
| id | doaj.art-73f7ec63ee31461f9f0f097bb47b82b1 |
| institution | Directory Open Access Journal |
| issn | 2255-9159 |
| language | English |
| last_indexed | 2024-04-13T04:00:03Z |
| publishDate | 2017-12-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Electrical, Control and Communication Engineering |
| spelling | doaj.art-73f7ec63ee31461f9f0f097bb47b82b12022-12-22T03:03:30ZengSciendoElectrical, Control and Communication Engineering2255-91592017-12-01131556210.1515/ecce-2017-0008ecce-2017-0008Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony AlgorithmElkhateeb Nasr A.0Badr Ragia I.1Ph.D., Modern University for Technology and InformationProfessor, Cairo UniversityThis 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.https://doi.org/10.1515/ecce-2017-0008artificial intelligencecontrol systemsevolutionary computationrobotic manipulatorstrajectory optimization |
| spellingShingle | Elkhateeb Nasr A. Badr Ragia I. Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm Electrical, Control and Communication Engineering artificial intelligence control systems evolutionary computation robotic manipulators trajectory optimization |
| title | Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm |
| title_full | Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm |
| title_fullStr | Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm |
| title_full_unstemmed | Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm |
| title_short | Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm |
| title_sort | novel pid tracking controller for 2dof robotic manipulator system based on artificial bee colony algorithm |
| topic | artificial intelligence control systems evolutionary computation robotic manipulators trajectory optimization |
| url | https://doi.org/10.1515/ecce-2017-0008 |
| work_keys_str_mv | AT elkhateebnasra novelpidtrackingcontrollerfor2dofroboticmanipulatorsystembasedonartificialbeecolonyalgorithm AT badrragiai novelpidtrackingcontrollerfor2dofroboticmanipulatorsystembasedonartificialbeecolonyalgorithm |