Improving of Swing up Motion Control Parameters for a Gymnastics Robot Using the Gray Wolf Algorithm
Keywords:
Gymnastic Robot, Gray Wolf Optimization, Inverted Pendulum, Swinging-up ControlAbstract
This paper focuses on controlling the swing of a robot consisting of three joints that features free movement of the first joint that causes the system to be both nonlinear system and to develop complex motion. The resulting robot gymnast thus simulates a human trying to swing smoothly from a stable (lower) position to an unstable (upper) position by feeding power to the shoulder and hip joints. The main purpose of this paper is to determine how best to adjust the control signal input to the DC motors in the robot’s “shoulder” and “hip” in order to move these joints into a vertical balanced plane. The Gray Wolf Algorithm (GWO) was adopted as a novel optimisation technique to calculate the optimal values for simulation of the behaviour of the robot in the swing phase, and the ensuing experimental and simulation results suggested that this was successful in managing the robot’s swing.
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