Parameter tuning of a computed-torque controller for a 5 degree of freedom robot arm using co-evolutionary particle swarm optimization.
Andi AsmaraRenato A. KrohlingFrank HoffmannPublished in: SIS (2005)
Keyphrases
- parameter tuning
- robot arm
- particle swarm optimization
- position control
- control law
- control algorithm
- control strategies
- fuzzy logic controller
- control scheme
- control strategy
- pid controller
- pso algorithm
- motion planning
- control system
- inverse kinematics
- ink bleed
- induction motor
- parameter settings
- closed loop
- nonlinear systems
- dynamic model
- position and orientation
- pi controller
- control method
- real time
- fuzzy controller
- particle swarm optimization pso
- end effector
- multi objective
- optimal control
- robotic manipulator
- adaptive control
- robust stability
- mobile robot
- contact force
- natural actor critic
- differential evolution
- neural network
- convergence speed