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DESIGN AND IMPLEMENTATION OF PSO BASED PID CONTROLLER FOR MA2000 ROBOT

 

Marketed By :  LAP LAMBERT Academic Publishing   Sold By :  Kamal Books International  
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  • Product Description
 

In this book, a complete control system is proposed to control the TQ MA2000 which is a six degree of freedom (DOF) complex structure robotic manipulator arm. The kinematics of the MA2000 manipulator were derived and verified with the aid of Matlab. The implemented control scheme is a networked control system (NCS), where two PCs interacted via a computer network to form the overall control and tuning entities. The control system utilized the proportional-Integral-Derivative (PID) algorithm to control the MA2000 manipulator, where each joint was treated as a separate Single Input Single Output (SISO). Particle Swarm Optimization (PSO) algorithm was used to tune the individual PID controllers of the robotic arm. The tuning process was considered as a nonlinear optimization problem, where a certain fitness function was minimized in order to obtain the desirable transient response for each joint. Finally, a set of tests were conducted against the tuned controllers where satisfactory results were obtained.

Product Specifications
SKU :COC65690
AuthorFiras Abdullah Thweny Al-Saedi and Ali Hadi Mohammed Al-Yasiri
LanguageEnglish
BindingPaperback
Number of Pages140
Publishing Year2013-01-21T00:00:00.000
ISBN9783659321108
Edition1 st
Book TypeComputer hardware
Country of ManufactureIndia
Product BrandLAP LAMBERT Academic Publishing
Product Packaging InfoBox
In The Box1 Piece
Product First Available On ClickOnCare.com2015-07-08 00:00:00