| Design and Implementation of Pso Based Pid Controller for Ma2000 Robot Contributor(s): Al-Saedi Firas Abdullah Thweny (Author), Al-Yasiri Ali Hadi Mohammed (Author) |
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ISBN: 3659321109 ISBN-13: 9783659321108 Publisher: LAP Lambert Academic Publishing OUR PRICE: $60.53 Product Type: Paperback Published: January 2013 |
| Additional Information |
| BISAC Categories: - Computers | Hardware - General |
| Physical Information: 0.33" H x 6" W x 9" (0.47 lbs) 140 pages |
| Descriptions, Reviews, Etc. |
| Publisher Description: 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. |