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

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

 
9783659321108: DESIGN AND IMPLEMENTATION OF PSO BASED PID CONTROLLER FOR MA2000 ROBOT
Softcover
ISBN 10: 3659321109 ISBN 13: 9783659321108
Verlag: LAP LAMBERT Academic Publishing, 2013

Inhaltsangabe

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.

Die Inhaltsangabe kann sich auf eine andere Ausgabe dieses Titels beziehen.

Über die Autorin bzw. den Autor

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.

„Über diesen Titel“ kann sich auf eine andere Ausgabe dieses Titels beziehen.

Verlag
LAP LAMBERT Academic Publishing
Erscheinungsdatum
2013
Sprache
Englisch
ISBN 10 
3659321109
ISBN 13 
9783659321108
Einband
Taschenbuch
Anzahl der Seiten
140
Kontakt zum Hersteller
Nicht verfügbar
Verantwortliche Person
Fastbook Publishing
customerservice@vdm-vsg.de

Brivibas gatve 197
Riga
1039
Lettland