Robotic arm control through mimicking of miniature robotic arm

Megalingam, Rajesh Kannan; Boddupalli, Sricharan; Apuroop, Koppaka Ganesh Sai

doi:10.1109/icaccs.2017.8014622

Cited by 20 publications

(1 citation statement)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The identification of the Inverse Kinematic (IK) plays an important role in the precision control of trajectory tracking [ 4 , 5 ]. Various IK solutions have been carried out for robotic arms [ 6 , 7 ]. For instance, Xu et al.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution

Amiri

Ramli

2021

Sensors

View full text Add to dashboard Cite

It is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic (IK) solution of a robotic arm is presented. Each joint is controlled by Proportional–Integral–Derivative (PID) controller optimized with the Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), called Genetic–Swarm Optimization (GSO). GSO solves the IK of each joint while the dynamic model is determined by the Lagrangian. The tuning of the PID is defined as an optimization problem and is solved by PSO for the simulated model in a virtual environment. A Graphical User Interface has been developed as a front-end application. Based on the combination of hybrid optimal GSO and PID control, it is ascertained that the system works efficiently. Finally, we compare the hybrid optimal GSO with conventional optimization methods by statistic analysis.

show abstract

Section: Introductionmentioning

confidence: 99%