Modeling and control of motorized robotic arm using hybrid GA-PSO algorithm

摘要

This paper portrays the motion control of one degree of freedom robotic arm using a DC servo motor. The servo motor is to rotate the arm to the desired angle for a DC input. The robotic arm has been modeled for lifting applications for which the position dependent gravitational torque acting on the motor is taken into account. A cascaded PID controller is used for improving the transient response. This paper focuses on improving the response characteristics of the angular motion of the arm by tuning the PID controller using biologically inspired algorithms like particle swarm optimization(PSO) and genetic algorithms(GA) and finally compares the results with the hybrid or GA-PSO algorithm which clubs both PSO and genetic algorithms for obtaining better results.