Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms
Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms
复制标题
通过粒子群优化调整机械臂的阻抗控制器
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
O. Boubaker
中科院分区：
文献类型：
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作者：
Haifa Mehdi;O. Boubaker
本文提出了一种高效、快速的机器人机械手在约束运动状态下的控制器参数微调方法。采用基于李雅普诺夫的阻抗法证明了机器人系统的稳定性，并采用粒子群优化算法对控制器参数进行了离线优化设计。在设计粒子群算法时，考虑了关节空间和笛卡尔空间中不同的指标性能。最后用一个约束于圆形轨迹的三维机械臂验证了所提方法的性能。仿真结果表明了该方法的稳定性和性能。
This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability of the robotic system is proved using a Lyapunov-based impedance approach whereas the optimal design of the controller parameters are tuned, in offline, by a Particle Swarm Optimization (PSO) algorithm. For designing the PSO method, different index performances are considered in both joint and Cartesian spaces. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the performances of the proposed approach. The simulation results show the stability and the performances of the proposed approach.