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A three-stage PSO-based methodology for tuning an optimal PD-controller for robotic arm manipulators

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Abstract

Six degrees-of-freedom (DoF) robot manipulators are dynamically coupled and highly nonlinear multi-variable systems. Calculating the optimal joint angles from the operational space (i.e. inverse kinematics) and designing the optimal joint controller parameters are two important research topics. This paper proposes a 3-stage Particle Swarm Optimization (PSO)-based methodology for solving the inverse kinematics and optimizing the controller parameters. In the first stage, a PSO algorithm solves the inverse kinematics problem by minimizing a multi-objective cost function in the operational space (i.e. the error in the end-effector’s pose) and therefore finds the optimal joint angles. In the second stage, polynomial functions generate the desired trajectory between the initial and final poses in the joint space. Finally, a second PSO algorithm tunes six proportional-derivative (PD) controllers, one for each joint, to track the desired trajectory by minimizing another multi-objective cost function in the joint space. Two case studies, based on six DoF Puma 560, validate the performance of the proposed methodology. Simulation results show that the proposed 3-stage methodology provides fast and accurate results as the PSO algorithms are effective in solving the inverse kinematics problem and tuning the optimal PD parameters.

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Authors and Affiliations

  1. Mechatronics Engineering Department, Philadelphia University, Amman, Jordan

    Tarek A. Tutunji & Mustafa Al-Khawaldeh

  2. Mechanical Engineering Department, Clemson University, Clemson, SC, USA

    Malek Alkayyali

Authors
  1. Tarek A. Tutunji
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  2. Mustafa Al-Khawaldeh
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  3. Malek Alkayyali
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Correspondence to Tarek A. Tutunji.

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Tutunji, T.A., Al-Khawaldeh, M. & Alkayyali, M. A three-stage PSO-based methodology for tuning an optimal PD-controller for robotic arm manipulators. Evol. Intel. 15, 381–396 (2022). https://doi.org/10.1007/s12065-020-00515-4

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  • DOI: https://doi.org/10.1007/s12065-020-00515-4

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