A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
In the construction of robot applications, controller is very important in producing good performance the robot system. This paper presents the modeling and simulation of multi fingered robot hand (MFRH) with the conventional and modern controllers where the output responses have been analyzed. A sw...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2017
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| Online Access: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015923137&doi=10.1109%2fROMA.2016.7847837&partnerID=40&md5=a4297ef1946c00b5f8425aca87c829d4 http://eprints.utp.edu.my/20152/ |
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| Summary: | In the construction of robot applications, controller is very important in producing good performance the robot system. This paper presents the modeling and simulation of multi fingered robot hand (MFRH) with the conventional and modern controllers where the output responses have been analyzed. A swarm algorithm known as Particle Swarm Optimization (PSO) has been used to find optimum solutions in a large search space. Simulation of modern controller (PSO-PID) has produced better results than the conventional controller in terms of system parameters such as rise time, settling time steady state error and maximum overshoot in the DC Servomotor speed control MFRH. © 2016 IEEE. |
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