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Authors: Ahmed Zidan ; Jens Kotlarski and Tobias Ortmaier

Affiliation: Leibniz Universität Hannover, Germany

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.

CC BY-NC-ND 4.0

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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; ISSN 2184-2809, SciTePress, 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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Zidan, A.
AU - Kotlarski, J.
AU - Ortmaier, T.
PY - 2017
SP - 34
EP - 40
DO - 10.5220/0006419700340040
PB - SciTePress