Position Control of Arm Manipulator Within Fractional Order PID Utilizing Particle Swarm Optimization Algorithm

摘要

Rigid robots can be used in several industrial applications including assembly of electronic parts, welding and dangerous jobs that have danger in human life. In this paper the main goal is to control the position of a 2-DOF robot arm. Proportional Integration-Derivative (PID) controller can perform this work but its robustness cannot be guaranteed. Another controller with a higher sensitivity and accuracy is required. Fractional Order PID (FOPID) controller is adopted for such a task. The controller parameters are optimized using Particle Swarm Optimization (PSO) approach. The robot arm is used in order to move objects from one point to another so it is proposed a FOPID controller to eliminate the error between the desired trajectory and the actual displacement of the robot end-effector.