Title :
Robotic applications with Particle Swarm Optimization (PSO)
Author :
Das, M. Taylan ; Dulger, L. Canan ; Das, G. Sena
Author_Institution :
Roketsan Co., Ankara, Turkey
Abstract :
Swarm Intelligence (SI) is inspired from the study of colonies of swarms in Nature. This paper introduces a study originated on swarm intelligence, Particle Swarm Optimization (PSO). Three case studies on one link arm, a SCARA robot and a electrohydraulic robot - are presented on both simulation and experimental base to show effectiveness and simplicity of application. Convergence results of the cases are shown on robot trajectory control (PSO-PID) and robotic system identification (PSO-NN).
Keywords :
hydraulic systems; particle swarm optimisation; robots; trajectory control; PSO-NN; PSO-PID; SCARA robot; electrohydraulic robot; one link arm; particle swarm optimization; robot trajectory control; robotic applications; robotic system identification; swarm intelligence; Algorithm design and analysis; Joints; Neural networks; Particle swarm optimization; Robot kinematics; Trajectory; Neural Networks; PID control; Particle swarm optimization; SCARA Robot; System identification; electrohydraulic robot; one link arm;
Conference_Titel :
Control, Decision and Information Technologies (CoDIT), 2013 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4673-5547-6
DOI :
10.1109/CoDIT.2013.6689537
