Design and Simulation of Robotic Arm PD Controller Based on PSO

  • Salah Mahdi Swadi Al-Mustansiriyah University, Department of Electrical Engineering, Bagdad-Iraq.
  • Ammar Ibrahim Majeed Thi-Qar University,‡ Department of Mechanical Engineering, Al-Nasiriyah-Iraq.
  • Mushreq Abdulhussain shuriji University of Thi-Qar , Department of Mechanical Engineering, Al-Nasiriyah-Iraq.
  • Adnan A. Ugla ‡ University of Thi-Qar, Department of Mechanical Engineering, Al-Nasiriyah-Iraq.
Keywords: Robotic arm, Trajectory tracking, PD controller, PSO

Abstract

This paper deals with design and simulation of Proportional plus Derivative (PD) controller for two links robotic arm. The PD controller was used to compute the required joint’s torque for tracking the desired trajectory. The Particle Swarm Optimization (PSO) algorithm has been used in order to tune the gains of the proportional and derivative parts of PD controller. Simulation results show an efficient and robust behavior of the proposed controller. Two cases of simulation tests were carried out. The first was tracking a sine wave trajectory while the second was tracking the same trajectory with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the results obtained by other researchers, for similar robotic arm properties and same trajectory. The proposed controller offers a simple method for trajectory tracking problem with a satisfactory efficiency. A Mean Square Error (MSE) criterion was used to study the efficiency of the proposed controller in tracking the desired trajectory.
Published
2019-06-07
Section
Articles