ÜÇ SӘRBӘSTLİK DӘRӘCӘLİ ROBOT MANİPULYATOR SİSTEMİ ÜÇÜN OPTİMAL PİD TӘNZİMLӘYİCİSİNİN MODELLӘŞDİRİLMӘSİ

Abstract

. In this research work, the application and analysis of the optimization methodology based on the dynamic flying objects algorithm to design the robot manipulator based on the optimal PID controller is considered. Based on the dynamic analysis of robot manipulators, the interaction between the torques created by the actuators and the position and speed of the manipulator was investigated. The optimal PID control law obtained from the proposed algorithm is applied to the robot system. The proposed controller optimizes the trajectory of the robot's end-effector for input during variable time and hardens the robot against perturbing effects. To achieve a highly adaptive optimization process, the correct formulation of the utility function leads to optimal solutions. Three different objective functions were used in the process of optimization of control parameters in the robot system and their results were compared. In this work, a new debugging methodology for trajectory tracking in robotic manipulator systems is presented. Optimum benefit is obtained by using the proposed PID regulation law. The obtained results are satisfactory and competitive. It has been determined that the problems of the smooth control system in the places where the robot system is highly non-linear are regulated by classical methods.