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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
