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Electrical, Control and Communication Engineering

The Journal of Riga Technical University

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2255-9159
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Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

Nasr A. Elkhateeb / Ragia I. Badr
Published Online: 2017-12-29 | DOI: https://doi.org/10.1515/ecce-2017-0008

Abstract

This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC) algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.

Keywords: Artificial intelligence; Control systems; Evolutionary computation; Robotic manipulators; Trajectory optimization

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About the article

Published Online: 2017-12-29

Published in Print: 2017-12-01


Citation Information: Electrical, Control and Communication Engineering, Volume 13, Issue 1, Pages 55–62, ISSN (Online) 2255-9159, DOI: https://doi.org/10.1515/ecce-2017-0008.

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© 2017 Nasr A. Elkhateeb et al., published by De Gruyter Open. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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