Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

被引：13

作者：

Mahmoodabadi, M. J. ^{[1
]}

Ziaei, A. ^{[1
]}

机构：

[1] Sirjan Univ Technol, Dept Mech Engn, Sirjan, Iran

来源：

JOURNAL OF ROBOTICS | 2019年 / 2019卷

关键词：

LOAD FREQUENCY CONTROL; LOGIC CONTROLLER; KINEMATICS PROBLEM; POSITION CONTROL; PSO; DESIGN; PD; TRACKING; ALGORITHM; GA;

D O I：

10.1155/2019/5052185

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.

引用

页数：10

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