Multi-Objective Optimized Controller for a Three-Link Manipulator

  • سال انتشار: 1399
  • محل انتشار: بیست و هشتمین کنفرانس سالانه بین المللی انجمن مهندسان مکانیک ایران
  • کد COI اختصاصی: ISME28_504
  • زبان مقاله: انگلیسی
  • تعداد مشاهده: 761
دانلود فایل این مقاله

نویسندگان

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

چکیده

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.

کلیدواژه ها

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

مقالات مرتبط جدید

اطلاعات بیشتر در مورد COI

COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.

کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.