Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator

Dynamic modelling and motion control of a newly developed 5-DOF robot manipulator is presented here. Optimized PID gains are obtained using PSO (Particle Swarm Optimization) method. a PID and a PID-CTC (Computed Torque Control) controller with optimized gains are examined for reference trajectory tracking control for the manipulator. Controllers' performance for unit step inputs are evaluated using computer simulations. It is shown that this PSO optimized gain PID-CTC controller makes the manipulator follow its trajectory with no steady- state error. Controllers lead to small tracking errors, which is suitable for intended application; the PID-CTC controller provides better overall transient responses. The simulation model presented here, can be used for other applications. Contributions of this paper is mostly on application of PSO for the large 5-DOF manipulator with uncertain settings.