Analysis and Software for the Development of an Inertially Aided Robot Manipulator

1989 ◽  
Author(s):  
James C. Hung
Keyword(s):  
Robot Manipulator

Dynamics of space elastic robot-manipulator

1997 ◽  
Vol 3 (3-4) ◽  
pp. 90-95
Author(s):  
V.I. Gouliaev ◽  
◽  
T.V. Zavrazhina ◽  
Keyword(s):  
Robot Manipulator

scholarly journals Optimization of sliding mode control with PID surface for robot manipulator by Evolutionary Algorithms

2020 ◽  
Vol 10 (1) ◽  
pp. 396-407
Author(s):  
Fatiha Loucif ◽  
Sihem Kechida
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Absolute Error ◽  
Grey Wolf Optimizer ◽  
Optimal Parameters ◽  
Error Criterion ◽  
Trajectory Tracking Control ◽  
Integral Time ◽  
Sine Cosine Algorithm ◽  
Antlion Optimization

AbstractIn this paper, a sliding mode controller (SMC) with PID surface is designed for the trajectory tracking control of a robot manipulator using different optimization algorithms such as, Antlion Optimization Algorithm (ALO) Sine Cosine Algorithm (SCA) Grey Wolf Optimizer (GWO) and Whale Optimizer Algorithm (WOA). The aim of this work is to introduce a novel SMC-PID-ALO to control nonlinear systems, especially the position of two of the joints of a 2DOF robot manipulator. The basic idea is to determinate four optimal parameters (Kp, Ki, Kd and lamda) ensuring the best performance of a robot manipulator system, minimizing the integral time absolute error criterion (ITAE) and the integral time square error criterion (ISTE). The robot manipulator is modeled in Simulink and the control is implemented using the MATLAB environment. The obtained simulation results prove the robustness of ALO in comparison with other algorithms.

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