Genetic algorithm and simulated annealing for optimal robot arm PID control

Author

Kwok, D.P. ; Sheng, Fang

Author_Institution

Dept. of Electron. Eng., Hong Kong Polytech., Hung Hom, Hong Kong

fYear

1994

fDate

27-29 Jun 1994

Firstpage

707

Abstract

This paper describes the use of genetic algorithm (GA) and simulated annealing (SA) for optimizing the parameters of PID controllers for a 6-DOF robot arm. A GA and a SA are designed to optimal-tune the parameters of the PID controller of each joint for a single step response and for the tracking of other specified trajectories. The GA and the SA are required to optimize evaluation functions related to the combinations of different performance indices. Simulations are carried out on a PUMA 560 arm model being controlled by PID controllers with their parameters optimized using the proposed GA and SA. Based on the simulation results, the performances of genetic algorithm and simulated annealing are compared and discussed

Keywords

digital simulation; genetic algorithms; manipulators; simulated annealing; simulation; three-term control; 6-DOF robot arm; PID controller; PUMA 560 arm model; evaluation functions; genetic algorithm; optimal robot arm PID control; optimal-tune; parameter optimisation; performance indices; simulated annealing; simulations; single step response; tracking; Automatic control; Control systems; Evolutionary computation; Genetic algorithms; Optimal control; Robot control; Search methods; Service robots; Simulated annealing; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the First IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-1899-4

Type

conf

DOI

10.1109/ICEC.1994.349971

Filename

349971