Multi-Objective Optimized Controller for a Three-Link Manipulator

Publish Year: 1399
نوع سند: مقاله کنفرانسی
زبان: English
View: 536

متن کامل این Paper منتشر نشده است و فقط به صورت چکیده یا چکیده مبسوط در پایگاه موجود می باشد.
توضیح: معمولا کلیه مقالاتی که کمتر از ۵ صفحه باشند در پایگاه سیویلیکا اصل Paper (فول تکست) محسوب نمی شوند و فقط کاربران عضو بدون کسر اعتبار می توانند فایل آنها را دریافت نمایند.

  • Certificate
  • من نویسنده این مقاله هستم

این Paper در بخشهای موضوعی زیر دسته بندی شده است:

استخراج به نرم افزارهای پژوهشی:

لینک ثابت به این Paper:

شناسه ملی سند علمی:

ISME28_504

تاریخ نمایه سازی: 22 تیر 1399

Abstract:

In this paper, improved control of a three-link robot is considered. Articulated robots, such as three-degree robots, are widely accepted and conventional in the industry and academic usages. The proposed control introduced in this paper is based on three decentralized PID controllers to control the desired position of a robot in the minimum time and energy. The primary intention of this research is to minimize the error and the efforts of each motor instantaneously to move the robot in the desired location with the least amount of energy. To solve this challenge, two problems at the same time are considered, a tradeoff between speedy and effort, which is essential for the industry due to the inherent behavior of energy and accuracy. To provide the efficiency of the proposed classic PID controllers, an evolutionary procedure based on the Genetic algorithm, which is known for a multi-objective optimization technique, is employed. The results show that the controlling process of the manipulator can reasonably minimize the errors and effort simultaneously.

Authors

Masoud Goharimanesh

Mechanical Engineering Department, University of Torbat Heydarieh, Torbat Heydarieh, Iran

Alireza Gerami

Mechanical Engineering Department, University of Torbat Heydarieh, Torbat Heydarieh, Iran

Ehsan Azimirad

Electrical Engineering Department, University of Torbat Heydarieh, Torbat Heydarieh, Iran

Ali Koochi

Mechanical Engineering Department, University of Torbat Heydarieh, Torbat Heydarieh, Iran

Mohammadreza Gharib

Mechanical Engineering Department, University of Torbat Heydarieh, Torbat Heydarieh, Iran