loading
Documents

Research.Publish.Connect.

Paper

Authors: Ahmed Zidan ; Jens Kotlarski and Tobias Ortmaier

Affiliation: Leibniz Universität Hannover, Germany

ISBN: 978-989-758-264-6

Keyword(s): Robotic Manipulators, Particle Swarm Optimization, PD Control, Automatic Tuning.

Related Ontology Subjects/Areas/Topics: Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Robot Design, Development and Control ; Robotics and Automation

Abstract: An auto-tuning method of PD controllers for robotic manipulators is proposed. This method suggests a practical implementation of the particle swarm optimization technique in order to find optimal gain values achieving the best tracking of a predefined position trajectory. For this purpose, The integral of the absolute error IAE is used as a cost function for the optimization algorithm. The optimization is achieved by performing the desired movement of the robot iteratively and evaluating the cost function for every iteration. Therefor, the necessary constraints that guarantee a safe and stable movement of the robot are defined, which are: a maximum joint torque constraint, a maximum position error constraint and an oscillation constraint. A constraint handling approach is suggested for the optimization algorithm in order to adapt it to the problem in hand. Finally, the efficiency of the proposed method is verified through a practical experiment on a real robot.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.208.22.127

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Zidan, A.; Kotlarski, J. and Ortmaier, T. (2017). A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 34-40. DOI: 10.5220/0006419700340040

@conference{icinco17,
author={Ahmed Zidan. and Jens Kotlarski. and Tobias Ortmaier.},
title={A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={34-40},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006419700340040},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization
SN - 978-989-758-264-6
AU - Zidan, A.
AU - Kotlarski, J.
AU - Ortmaier, T.
PY - 2017
SP - 34
EP - 40
DO - 10.5220/0006419700340040

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.