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INTERNATIONAL JOURNAL OF CREATIVE RESEARCH THOUGHTS - IJCRT (IJCRT.ORG)
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ISSN Approved Journal No: 2320-2882 | Impact factor: 7.97 | ESTD Year: 2013
Call For Paper - Volume 12 | Issue 7 | Month- July 2024
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Published Paper Details:
Paper Title
OPTIMIZATION OF PID CONTROLLERS FOR THREE LINK ROBOT MANIPULATORS USING PSO
Authors
Vinothgirubha K, Yashwant Govin D, Anbarasi M P
Keywords
Kinematics, Dynamics, Trajectory planning, Autonomous navigation, Feedback control, Robot sensors, Path optimization
Abstract
In robotics, a manipulator is used to manipulate materials without any direct physical contact by the operator. This project aims to present method to model and control the mechanics of Robot manipulator. The arm and the body of a robot are used to move and position parts or tools within a work envelope. They are formed from three joints connected by large links. The three- link robot arm is modelled and simulated using MATLAB/Simulink SimMechanics tool box. This model is implemented with PID controllers and the gains of the PID controller are tuned with Particle swarm Optimization Algorithm (PSO). The results of the simulation show that SimMechanics tool box can be used to model the mechanics of robot and the better performance can be obtained with PSO tuned PID controllers.
IJCRT's Publication Details
Unique Identification Number - IJCRT2311004
Paper ID - 245711
Page Number(s) - a19-a24
Pubished in - Volume 11 | Issue 11 | November 2023
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Publisher Name - IJCRT | www.ijcrt.org | ISSN : 2320-2882
E-ISSN Number - 2320-2882
Cite this article
Vinothgirubha K, Yashwant Govin D, Anbarasi M P, "OPTIMIZATION OF PID CONTROLLERS FOR THREE LINK ROBOT MANIPULATORS USING PSO", International Journal of Creative Research Thoughts (IJCRT), ISSN:2320-2882, Volume.11, Issue 11, pp.a19-a24, November 2023, Available at :http://www.ijcrt.org/papers/IJCRT2311004.pdf
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Volume 12 | Issue 7
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Volume 12 | Issue 7
Last Date :
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Submit Manuscript Online Impact Factor: 7.97 Review Results : Within 02-03 Days Paper Publication : Within 02-03 Days
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ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
ISSN and 7.97 Impact Factor Details
ISSN: 2320-2882 Impact Factor: 7.97 and ISSN APPROVED Journal Starting Year (ESTD) : 2013
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