Decentralized PID control is a widespread solution for trajectory tracking control of robotic manipulators in industrial contexts, because it provides a good trade-off between ease of implementation and performance. However, in many cases the final tuning of the independent controllers relies on exhaustive trial-and-error procedures, which are time-consuming, and may lead to globally sub-optimal configurations. In this paper, we describe an automatic and simultaneous tuning procedure for the linear controllers of a 5dof robotic manipulator based on Genetic Algorithms. The preliminary results described in this paper, obtained on a detailed model of an industrial manipulator developed within the SimMechanics Matlab environment, show the effectiveness of the evolutionary design procedure. The decentralized controllers can hold satisfactory performances over a wide range of operating conditions, including unknown load disturbances.
Genetic design of decentralized controllers for 5dof robotic manipulator / Cupertino, Francesco; Giordano, V.; Naso, David; Salvatore, L.; Turchiano, Biagio. - (2003), pp. 509-514. (Intervento presentato al convegno International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 tenutosi a Kobe, Japan nel July 16-20, 2003) [10.1109/CIRA.2003.1222233].
Genetic design of decentralized controllers for 5dof robotic manipulator
CUPERTINO, Francesco;NASO, David;TURCHIANO, Biagio
2003-01-01
Abstract
Decentralized PID control is a widespread solution for trajectory tracking control of robotic manipulators in industrial contexts, because it provides a good trade-off between ease of implementation and performance. However, in many cases the final tuning of the independent controllers relies on exhaustive trial-and-error procedures, which are time-consuming, and may lead to globally sub-optimal configurations. In this paper, we describe an automatic and simultaneous tuning procedure for the linear controllers of a 5dof robotic manipulator based on Genetic Algorithms. The preliminary results described in this paper, obtained on a detailed model of an industrial manipulator developed within the SimMechanics Matlab environment, show the effectiveness of the evolutionary design procedure. The decentralized controllers can hold satisfactory performances over a wide range of operating conditions, including unknown load disturbances.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
