PID Controller Optimization of Teleoperated 2DOF Robot Manipulator Using Artificial Bee Colony Algorithm

摘要

Robotics and artificial intelligence are the basic building blocks for industry revolution 4.0. The intelligent optimization techniques have been recently used to solve complex engineering problems. The robotics is one of the fields that intelligent optimization techniques can be applied in both controller design and motion planning. In this paper, we introduce the application of artificial bee colony for tuning the PID controllers for a teleported 2 Degree-of-Freedom robot manipulator. The presence of the time delay degrades the performance of the system or at worst leads to system instability. The performance of the 2DOF manipulator has been optimized using the nonlinear model with artificial bee colony algorithm (ABCA). The performance of the 2DOF robot using ABCA optimization has been compared with the performance of the robot using particle swarm optimization algorithms and the ABCA showed better performance.