DocumentCode :
1891032
Title :
Genetic design of decentralized controllers for 5dof robotic manipulator
Author :
Cupertino, Francesco ; Giordano, Vincenzo ; Naso, David ; Salvatore, Luigi ; Turchiano, Biagio
Author_Institution :
Dipt. di Elettrotecnica ed Elettronica, Politecnico di Bari, Italy
Volume :
2
fYear :
2003
fDate :
16-20 July 2003
Firstpage :
509
Abstract :
Decentralized PID control is a widespread solution for trajectory tracking control of robotic manipulators in industrial contexts, because it provides a good trade-off between ease of implementation and performance. However, in many cases the final tuning of the independent controllers relies on exhaustive trial-and-error procedures, which are time-consuming, and may lead to globally sub-optimal configurations. In this paper, we describe an automatic and simultaneous tuning procedure for the linear controllers of a 5dof robotic manipulator based on Genetic Algorithms. The preliminary results described in this paper, obtained on a detailed model of an industrial manipulator developed within the SimMechanics Matlab environment, show the effectiveness of the evolutionary design procedure. The decentralized controllers can hold satisfactory performances over a wide range of operating conditions, including unknown load disturbances.
Keywords :
control system synthesis; controllers; decentralised control; genetic algorithms; industrial manipulators; mathematics computing; position control; suboptimal control; three-term control; tracking; 5-DOF; PID control; SimMechanics Matlab environment; automatic tuning procedure; decentralized controllers design; evolutionary design procedure; genetic algorithms; industrial manipulator; linear controllers; robotic manipulators; simultaneous tuning procedure; suboptimal control; trajectory tracking control; unknown load disturbances; Automatic control; Genetic algorithms; Industrial control; Manipulators; Mathematical model; Robot control; Robotics and automation; Service robots; Three-term control; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
Type :
conf
DOI :
10.1109/CIRA.2003.1222233
Filename :
1222233
Link To Document :
بازگشت