Feedback Control Topology of n-DOF Robotic Manipulator and Optimal Positioning of End-Effector using PSO

被引：0

作者：

Banerjee, Soumyendu ^{[1
]}

Singh, Girish K. ^{[1
]}

机构：

[1] Indian Inst Technol Roorkee, Dept Elect Engn, Roorkee, Uttar Pradesh, India

来源：

PROCEEDINGS OF 2020 IEEE APPLIED SIGNAL PROCESSING CONFERENCE (ASPCON 2020) | 2020年

关键词：

DH-parameters; forward kinematics; robotic manipulator; particle swarm optimization;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this work, optimal control of n-degrees of freedom (DOF) robotic manipulator, using particle swarm optimization (PSO), is proposed. Based on an arbitrary model of robotic manipulator, final position of end-effector was computed using four Denavit-Hartenberg (DH) parameters, associated with each link by forward kinematics. A feedback control topology was implemented that reduced the squared sum error, between the desired end-effector position and obtained end-effector position, in each iteration of PSO, within 3 dimensional cartesian space. The PSO provided optimized values of link parameters i.e. joint angles for revolute joints and link lengths for prismatic joints, so that the end-effector could be perfectly positioned at desired coordinate. This algorithm was successfully implemented in MATLAB/Simulink and tested on several arbitrary robotic manipulator with n-DOF system and it provided satisfactory result on controlling and positioning the end-effector.

引用

页码：41 / 45

页数：5