Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization
This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jac...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2019/5052185 |
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| author | M. J. Mahmoodabadi A. Ziaei |
| author_facet | M. J. Mahmoodabadi A. Ziaei |
| author_sort | M. J. Mahmoodabadi |
| collection | DOAJ |
| description | This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers. |
| format | Article |
| id | doaj-art-9a73a16cb70c452e91a3a71f98e3be1a |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-9a73a16cb70c452e91a3a71f98e3be1a2025-02-03T06:07:46ZengWileyJournal of Robotics1687-96001687-96192019-01-01201910.1155/2019/50521855052185Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm OptimizationM. J. Mahmoodabadi0A. Ziaei1Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranDepartment of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranThis paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.http://dx.doi.org/10.1155/2019/5052185 |
| spellingShingle | M. J. Mahmoodabadi A. Ziaei Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization Journal of Robotics |
| title | Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization |
| title_full | Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization |
| title_fullStr | Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization |
| title_full_unstemmed | Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization |
| title_short | Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization |
| title_sort | inverse dynamics based optimal fuzzy controller for a robot manipulator via particle swarm optimization |
| url | http://dx.doi.org/10.1155/2019/5052185 |
| work_keys_str_mv | AT mjmahmoodabadi inversedynamicsbasedoptimalfuzzycontrollerforarobotmanipulatorviaparticleswarmoptimization AT aziaei inversedynamicsbasedoptimalfuzzycontrollerforarobotmanipulatorviaparticleswarmoptimization |