DESIGN AND IMPLEMENTATION OF PSO BASED PID CONTROLLER FOR MA2000 ROBOT - Couverture souple

Al-Saedi, Firas Abdullah Thweny; Al-Yasiri, Ali Hadi Mohammed

Couverture souple

ISBN 10 : 3659321109 ISBN 13 : 9783659321108

Editeur : LAP Lambert Academic Publishing, 2013

Synopsis

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.

A propos du livre

À propos de l'auteur

Firas Al-Saedi is the Rapporteur of the Computer Engineering Department at Al-Nahrain University, Baghdad, Iraq. He has a Ph.D. in Electronics and Communication Engineering.

Détails de l'édition

• Éditeur: LAP Lambert Academic Publishing
• Date d'édition: 2013
• Langue: anglais
• ISBN 10: 3659321109
• ISBN 13: 9783659321108
• Reliure: Broché
• Nombre de pages: 140
• Coordonnées du fabricant: non disponible
• Personne responsable: KreGa Onlinehandel GmbH; 4950000000000; info@krega-onlinehandel.de; ; Birkenweg 31; Brakel; 33034; Allemagne