CONTROL OF A SCARA ROBOT: PSO-PID APPROACH

Abstract

This paper presents an approach where the Particle swarm optimization (PSO) is employed to get optimum PID controller parameters to control of a SCARA robot. PSO is an evolutionary technique which is originated from swarm intelligence. A practical application of the PSO-PID controller is performed with the system dynamics. A simulation study is also included with the proposed controller by using the systems dynamic equations with the actuator dynamics and optimum PID parameters. Different trajectories are studied. Performances of the traditional controllers; PD, PID and the application of PSO-PID controller are then compared. Simulation results are presented. The numerical results definitely enforced the potential use of PSO-PID controller herein.