İki serbestlik dereceli bir robot kolun konum kontrolü için PID kontrol parametrelerinin arı algoritması (AA) kullanılarak belirlenmesi

Yıl 2022, Cilt: 24 Sayı: 1, 111 - 124, 05.01.2022

Erdem Karakoyun , Abdullah Çakan , Mete Kalyoncu

https://doi.org/10.25092/baunfbed.885152

Cited By: 1

Öz

Bu çalışmada, bir robot kolun konum kontrolü için PID kontrol parametreleri Genetik algoritma (GA) ve Arı Algoritması (AA) kullanılarak belirlenmiştir. Robot kolun dinamik ve kinematik denklemleri elde edilerek matematiksel modeli oluşturulmuştur. GA ve AA ile PID kontrol parametreleri belirlenirken minimum konum hatası sağlanabilmesi amaçlanmıştır. Optimizasyon ve benzetim çalışmaları Matlab/Simulink ortamında yapılmıştır ve elde edilen sonuçlardan; Her iki algoritmasının da PID kontrol parametrelerinin belirlenmesinde başarılı olduğu ve robot kolun istenilen referans konumlara gelebildiği görülmüştür. Ancak, Arı Algoritması ile elde edilen sonuçlarda daha az maksimum aşmalar gözlenmiştir.

Anahtar Kelimeler

Arı algoritması, PID kontrol, optimizasyon, robotik, manipülatör

Determination of PID control parameters for position control of a 2-dof robot arm using the bees algorithm (BA)

Öz

In this study, PID control parameters for position control of a robot arm were determined using Genetic Algorithm (GA) and The Bees Algorithm (BA). The mathematical model of the robot arm is created by obtaining the dynamic and kinematic equations. While determining PID control parameters with GA and BA, it is aimed to provide minimum position error. Optimization and simulation studies is realized in Matlab/Simulink environment and the results are shown that both algorithms are successful in determining the PID control parameters and the robot arm can reach the desired reference positions. However, less maximum overshoots are observed in the results obtained with The Bees Algorithm.

Anahtar Kelimeler

The bees algorithm, PID control, optimization, robotics, manipulator.

Kaynakça

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