Optimized PID Controller based on
Artificial Bee Colony Algorithm for Robot
Arm

Attya, Salih M.

doi:10.26821/ijshre.10.1.2022.100102

Cited by 1 publication

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“…PID algorithms control most robot manipulators independently at each joint [12]. PID controllers are frequently used in speed and position control of robot arm mechanisms [13].…”

Section: Introductionmentioning

confidence: 99%

Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control

Ersin,

Yaz

2024

Journal of Sensors

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In this study, a wearable exoskeleton arm was designed and controlled with different control methods to help people with muscle disorders in their arms and support treatment. The developed robot arm was transferred to Simulink software with the Simmechanics application. Two electromyography (EMG) muscle sensors and the ADXL335 position and acceleration sensors attach to the human arm’s biceps and triceps muscle areas. As the human moved the arm, data were obtained from the EMG muscle sensors and the ADXL335 position and acceleration sensor. The received data were first trained with the fuzzy logic algorithm. The same data were then trained with machine learning algorithms in Simulink software. It has been determined that the best result is the quadratic support vector machine (SVM) algorithm. The fuzzy logic algorithm trained with the PID controller block and the received sensor data have been added to the degrees of freedom regions that will enable rotation in the block diagram of the previously exported system. Later, the fuzzy logic block was removed and the machine learning algorithm, the quadratic SVM algorithm, was added. The designed system was operated with two different control systems, and the control algorithm closest to the human arm movement was determined. In addition, each part of the system, whose design was prepared, was removed and assembled separately with a 3D printer. ESP32 microcontroller development board was used to control the system, and it was run in real-time with EMG muscle sensors and position sensors.

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“…PID algorithms control most robot manipulators independently at each joint [12]. PID controllers are frequently used in speed and position control of robot arm mechanisms [13].…”

Section: Introductionmentioning

confidence: 99%

Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control

Ersin,

Yaz

2024

Journal of Sensors

View full text Add to dashboard Cite

show abstract

Optimized PID Controller based on Artificial Bee Colony Algorithm for Robot Arm

Cited by 1 publication

References 0 publications

Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control

Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control

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