Optimal control of a PMSM driven dual-arm SCARA robot by using the Bees Algorithm
Abstract
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.
Keywords
Controller design, Optimization, SCARA robot, The Bees Algorithm, PMSM
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