Comparative Study of Control Algorithms for 2-Degree of Freedom RR Planar Robot Manipulator Using Partical Swarm Optimization

Öz

In this paper; Proportional-Integral-Derivative Control, Fuzzy Logic and Integral Control, Sliding Mode Control algorithms are examined for trajectory control of 2 Degrees-of-Freedom (DOF) Planar Robot Manipulator (PRM). Firstly, conceptual model of the 2-DOF PRM is designed by using 3-dimensional design software. Subsequently, the actual mechanical architecture of 2-DOF PRM is constructed with imperfect transmission system. Kinematics/dynamics equations and control algorithms of the planar robot manipulator are embedded to the digital signal processor by using Matlab/Simulink toolbox. Afterwards, the parameters of control methods are tuned by using Partical Swarm Optimization (PSO). Four different experiments are carried out by using the same circular Cartesian trajectory in order to test the robustness of the control algorithms. Finally, the comparison results of the control algorithms obtained from the actual mechanism of the 2-DOF PRM are presented and discussed.

Anahtar Kelimeler

• Planar robot manipulator
• proportional-integral-derivative control
• fuzzy logic and integral control
• sliding mode control
• particle swarm optimization
• digital signal processor

Kaynakça

1. Acob, JM., Pano, V., Ouyang, PR. 2013. Hybrid PD sliding mode control of a two degree-of-freedom parallel manipulator. International Conference on Control and Automation, 12 – 14 June, HANGZHOU p.1760-1765.
2. Baccouch, M., Dodds, S. 2020. Two-Link robot manipulator: simulation and control design. International Journal of Robotic Engineering, 5(2): 1-17.