Optimization of Pid Controller Parameters for 3-Dof Planar Manipulator Using GA And PSO

Abstract

Tuning of PID controller to control the robotic manipulators in the manufacturing industry is proved to be a vital factor. It helps the robot to perform the assigned task in an effective way. The present paper explains the implementation of PID controller for three degrees of freedom (DOF) manipulator. The gains of these controllers are tuned using two modern heuristic techniques, namely Genetic Algorithm (GA) and Particle Swarm Intelligence (PSO). Generally, researchers are using traditional methods, such as manual and Ziegler-Nichols methods of tuning to tune the controllers. But these traditional tuning methods do not provide adequate tuning. In the present manuscript, GA and PSO are used to tune the parameters (that is, Kp, Kd and Ki) of PID controller. Once the optimal controllers are evolved after using GA and PSO based tuning, their performances in controlling the 3-DOF manipulator have been tested in simulations.