Paper Details: Downloads: 520
Serial Number: P1111112536
Title: Genetic PD Control of a Three-Link Rigid Spatial Manipulator
Authors: Ayman A. Aly and S. Elnaggar
Abstract: The Lagrangian approach is employed in deriving the equations of motion for 3-link spatial manipulator carrying a payload at its end. The effects of gravity on the dynamic behavior of the manipulator are considered. The model is presented in such a way that renders the application of available control techniques an easy task. This paper presents two schemes of robotic manipulator control systems. The first scheme is three independent PD joint controllers based on calculating the gains at the highest inertia arm configuration and; while the other scheme is based on PD controller gain parameters optimized via Genetic Algorithm (GA). Typically, for this, a controller is decomposed into a set of parameters which the GA attempts to optimize by using simulation based fitness evaluation of candidate controllers in the closed-loop system. The cost function to be minimized is the time taken by the system to achieve a final desired position. The study shows that the GA gains selection policy is effective to set the PD controller parameters in handling the rigid spatial manipulators.
Keywords: PD Control, Modeling, Rigid Manipulator, Genetic algorithms.
Journal/Conference: International Journal of Automatic Control and System Engineering
Volume: 11
Issue: 1
Submission Date: 3/19/2011 12:00:00 AM
Review Date: 5/6/2011 12:00:00 AM
Publishing Date: 6/9/2011 12:00:00 AM
Article Downloads: 520
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