Serial Manipulator Control Optimization Using Ant Colony Algorithm

摘要

Abstract Serial manipulator is one of robot type that commonly used on industry. The high Degree of Freedom (DoF) of serial manipulator lead to more flexibility on manipulation but at the same time it also lead to more complex mathematical model of serial manipulator. Because of this complexity, we cannot use the common Proportional-Integral-Derivative (PID) tuning method such as Ziegler-Nichols and Cohen-Coon while the parameter on controller is need to be optimal in order to reduce the error during position control and avoid instability which may cause hazard to the operator. Ant colony algorithm proposed to optimize the controller of serial manipulator and result of optimization evaluated through experiment.