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.