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

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.

Three-link robot, PID controller, multi-objective optimization, Genetic algorithm.