Design and implementation of PSO based PID controller for Ma2000 robot

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 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 du produit

• Auteurs: Firas Abdullah Thwen Al-Saedi, Firas Abdullah Thweny Al-Saedi, Ali Had Al-Yasiri, Ali Hadi Mohammed Al-Yasiri
• Edition: LAP Lambert Academic Publishing
• Langues: Anglais
• Format d'édition: Livre de poche
• Sortie: 01.01.2013
• EAN: 9783659321108
• ISBN: 978-3-659-32110-8
• Pages: 140
• Catégorie: Sciences naturelles, médecine, informatique, technique > Informatique, ordinateurs > Hardware