TY  - JOUR
T1  - Optimal control of a PMSM driven dual-arm SCARA robot by using the Bees Algorithm
AU  - Kalyoncu, Mete
AU  - Adsiz, Ahmet
AU  - Tarhan, Ahmet
PY  - 2025
DA  - June
Y2  - 2025
DO  - 10.70858/tijmet.1648201
JF  - The International Journal of Materials and Engineering Technology
JO  - TIJMET
PB  - Necip Fazıl YILMAZ
WT  - DergiPark
SN  - 2667-4033
SP  - 16
EP  - 21
VL  - 8
IS  - 1
LA  - en
AB  - In this study, the optimal control of a dual-arm SCARA robot driven by a Permanent Magnet Synchronous Motor (PMSM) is performed to track the desired trajectory by using the Bees Algorithm, one of the meta-heuristic optimization algorithms. The objective function to be minimized is taken as the shortest perpendicular distance between a desired trajectory and the trajectory to be tracked by the end effector of the robot. The optimal control of the dual-arm SCARA robot is made in such a way that the robot tracks the desired trajectory with minimum error within the workspace. It is thought that the dual-arm SCARA robot tracks the desired trajectory with time constraint, provided that it is within the workspace. The efficiency and sensitivity of the Bees Algorithm used on a sample application are demonstrated. The numerical application results are given graphically.
KW  - Controller design
KW  - Optimization
KW  - SCARA robot
KW  - The Bees Algorithm
KW  - PMSM
CR  - Liu, X., et al., Adaptive robust control of the PMSM servo system with servo and performance constraints, Journal of Vibration and Control, 2024, 10775463241278003
CR  - Xiao, C., et al., Active Disturbance Rejection Control of PMSM for Desilting Robot Based on Improved Differential Evolution, In: 2024 IEEE 14th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2024, 382-387
CR  - Zuo, Y. Lai, C., Iyer, K.L.V., A review of sliding mode observer based sensorless control methods for PMSM drive, IEEE Transactions on Power Electronics, 2023, 38(9): 11352-11367
CR  - Yang, Q., et al., Neural network dynamic surface position control of n‐joint robot driven by PMSM with unknown load observer, IET Control Theory & Applications, 2022, 16(12): 1208-1226
CR  - Sen, M.A., Bakırcıoğlu, V., Kalyoncu, M., Modelling and PID Control of SCARA Robot, 2017 International Conference on Engineering Technologies (ICENTE 2017), Konya, Turkey, 2017
CR  - Er, M., Er, M. N., Kalyoncu, M., Çift Kollu Bir SCARA Robotun Bozkurt Algoritması Kullanılarak Optimum Yörünge Sentezi, 6. Uluslararası Latin Amerika Bilimsel Araştırmalar Kongresi, Havana, Küba, pp.331-340, 1-3 Şubat 2024
CR  - İlgen, S., Durdu, A., Gülbahçe, E., Çakan A., Kalyoncu, M., The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator, Avrupa Bilim ve Teknoloji Dergisi (EJOSAT), 2022, 33, 267-273
CR  - Boschetti, G., Rosati, G., Sinico, T., Retrofit and Interface of a SCARA Robot with a PLC for Real-Time Direct Joint Control. In: European Conference on Mechanism Science, Cham: Springer Nature Switzerland, 2024, 278-285
CR  - Wang, Z., et al., Novel robust control with disturbance rejection for permanent magnet synchronous motors and experimental validation, Review of Scientific Instruments, 2025, 96(1)
CR  - Bakırcıoğlu, V., Şen, M.A., Kalyoncu, M., Numerical investigation and experimental verification of the proposed robot leg virtual model, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, 236(13): 7426-7441
CR  - Pham, D.T., Kalyoncu, M., Optimisation of a Fuzzy Logic Controller for a Flexible Single-Link Robot Arm Using the Bees Algorithm, 7th IEEE International Conference on Industrial Informatics (INDIN 2009), Cardiff, UK, 2009, 475-480
CR  - Sen, M.A, Tınkır, M., Kalyoncu, M., Optimisation of a PID controller for a two-floor structure under earthquake excitation based on the Bees Algorithm, Journal of Low Frequency Noise, Vibration and Active Control, 2018, 37(1): 107-127
CR  - Pham, D.T., Koç, E., Ghanbarzadeh, A., Otri, S., Rahim, S., Zaidi, M., The Bees Algorithm - A Novel Tool for Complex Optimisation Problems, 2nd International Virtual Conference on Intelligent Production Machines and Systems, 2006, 454-461
CR  - Onder, A., Incebay, O., Sen, M.A., Yapici, R., Kalyoncu, M., Heuristic optimization of impeller sidewall gaps-based on the Bees Algorithm for a centrifugal blood pump by CFD, The International Journal of Artificial Organs, 2021, 44(10): 765-772
CR  - Bilgic, H.H., Sen, M.A., Yapici, A., Yavuz, H., Kalyoncu, M., Meta-heuristic tuning of the LQR weighting matrices using various objective functions on an experimental flexible arm under the effects of disturbance, Arabian Journal for Sci and Engineering, 2021, 46(8):7323-7336
CR  - Fahmy, A.A., Kalyoncu, M., and Castellani, M., Automatic design of control systems for robot manipulators using The Bees Algorithm, Proceedings of the Institution of Mechanical Engineers, Part I, Journal of Systems and Control Engineering, 2012, 226(4):497-508
CR  - Pham, D.T., Koç, E., Kalyoncu, M., Tınkır, M., Hierarchical PID Controller Design for a Flexible Link Robot Manipulator Using the Bees Algorithm, Proceedings of 6th International Symposium on Intelligent Manufacturing Systems, Sakarya, Turkey, October 14-16, 2008, 757-765
CR  - Bilgic, H.H., Sen, M.A., Kalyoncu, M., Tuning of LQR controller for an experimental inverted pendulum system based on The Bees Algorithm, Journal of Vibroengineering 2016, 18(6):3684-3694
CR  - Sen, M.A., Kalyoncu. M., Optimal tuning of a LQR controller for an inverted pendulum using the Bees Algorithm, J Autom Control Eng, 2016, 4(5)
CR  - Incebay, O., Onder, A., Sen, M.A., Yapici, R., Kalyoncu, M., Fuzzy-Based Modeling and Speed Optimization of a Centrifugal Blood Pump using a Modified and Constrained Bees Algorithm, Computer Methods and Programs in Biomedicine, 2022, 221, 106867
CR  - Unal, R.E., Guzel, M.H., Sen, M.A., Kose, F., & Kalyoncu, M., Investigation on the cost-effective optimal dimensions of a solar chimney with the Bees Algorithm. International Journal of Energy and Environmental Engineering, 2023, 14(3):475-485
UR  - https://doi.org/10.70858/tijmet.1648201
L1  - https://dergipark.org.tr/en/download/article-file/4647101
ER  -