Integration and Optimization of Software to Control Robotic Arms: A Comprehensive Study on Modeling, Hardware Implementation, and PID Tuning
Keywords:
PID Controller, ARDUINO UNO, Simulink, Tuning, SolidWorks, Robot ArmAbstract
Software-controlled robots are the most common type of robotic arms, and their integration is critical to the progress of industries. In this study article, a robotic arm is created using SolidWorks and then its hardware implementation is finished following virtual inspection. Using techniques for higher-order system control such as Genetic Algorithm (GA), Ziegler-Nichols (Z-N), Ant Colony Optimisation (ACO), and Particle Swarm Optimisation (PSO), the movement and design of the DC servo motor's PID controller are accomplished through PID tuning. In particular, the Genetic Algorithm (GA) is used to improve robotic arm control. MATLAB Simulink simulates the software-based control of the robotic arm and offers a graphical user interface with easily navigable settings. This paper describes in detail how the robotic arm was created step by step and how its hardware and software were implemented. Additionally, Arduino hardware is used for data collecting and control system assessment when observing and evaluating the robotic arm's output features. A range of input variables are tested using the robotic arm.
Downloads
References
Zhang, J., Zhuang, J., & Du, H. (2009). Self-organizing genetic algorithm based tuning of PID controllers. Information Sciences, 179(7), 1007-1018. International Journal of Innovative Technology and Exploring Engineering (IJITEE), ISSN: 2278-3075, Volume-1, Issue-1, June 2012.
Bindu, R., & Namboothiripad, M. K. (2012). Tuning of PID controller for DC servo motor using genetic algorithm. International Journal of Emerging Technology and Advanced Engineering, 2(3), 310-314.R. S. Burns, “Advances Control Engineering”, Jordan Hill, 2001.
C. L. Philips and R. D. Harbor,” Feedback Control Systems”, PrPrentice-Hall2000.
Muhammad Ahmad Baballe, Mukhtar Ibrahim Bello, Abubakar Abdullahi Umar, Abdullahi Kabiru Shehu, Dahiru Bello, & Faiz Tijjani Abdullahi. (2022). A Look at the Different Types of Servo Motors and Their Applications. https://doi.org/10.5281/zenodo.6529859
T. V. Ramana, S. S. Manaktala, K. Valarmathi, Nitika Vats Doohan, Dasharathraj K. Shetty, Harish Kumar, Reynah Akwafo, "Energy Auditing in Three-Phase Brushless DC Motor Drive Output for Electrical Vehicle Communication Using Machine Learning Technique", Wireless Communications and Mobile Computing, vol. 2022, Article ID 9644795, 14 pages, 2022. https://doi.org/10.1155/2022/9644795
S. N. Sivanandam, S. Sumathi, and S. N. Deepa,” Introduction to Fuzzy Logic using MATLAB”, Springer, 2007.
Golcuk A. Design and implementation of a hybrid FLC+ PID controller for pressure control of sleep devices. Biomedical Signal Processing and Control. 2022 Jul 1;76:103702. https://doi.org/10.1016/j.bspc.2022.103702
S.R.Vaishnav, Z.J.Khan, “Design and Performance of PID and Fuzzy Logic Controller with Smaller Rule Set for Higher-Order System,” Proceedings of the World Congress on Engineering and Computer Science, WCECS 2007, October 24-26, 2007, San Francisco, USA.
Tudić V, Kralj D, Hoster J, Tropčić T. Design and Implementation of a Ball-Plate Control System and Python Script for Educational Purposes in STEM Technologies. Sensors (Basel). 2022;22(5):1875. Published 2022 Feb 27. doi:10.3390/s22051875
Shih-Jer, H. and L. Ji-Shin ."A stable Self-Organizing Fuzzy Controller for Robotic Motion Control", Industrial Electronics, IEEE Transactions on 47(2), PP421-428, 2000.
Kiam Heong, A., "PID Control System Analysis, Design, and Technology", Control Systems Technology, IEEE Transactions on 13(4), PP559-576, 2005.
Kumar, S., Rastogi, V., & Gupta, P. (2018)The.The PID-based impedance control scheme for a flexible single-arm underwater robot manipulator. In International Conference on New Frontiers in Engineering, Science & Technology (pp. 481-488).
Mohammed Hussien, "Design Controller System for Robotic Arm", Vo1. 6, No. 4, pp449–463, Nov 2016.
I. China, N. Liouane, and P. Borne, "Tuning PID Controller Using Multiobjective Ant Colony Optimization," Appl. Comput. Intell. Soft Comput., vol. 2012, no. 1, pp. 1–7, 2012, DOI: 10.1155/2012/536326.
K. Kinoshita, S. Wakitani, and S. Ohno, "Design of neural network PID controller based on E-FRIT," Electr. Eng. Japan (English Transl. Denki Gakkai Ronbunshi), vol. 205, no. 2, pp. 33–42, 2018, DOI: 10.1002/eej.23141.
L. Liu, C. Pu, R. Barga, and T. Zhou, "Differential evaluation of continual queries," Proc. - Int. Conf. Distrib. Comput. Syst., pp. 458–465, 1996, DOI: 10.1109/icdcs.1996.507994.
V. Rajinikanth and K. Latha, "I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion," Appl. Comput. Intell. Soft Comput., vol. 2012, pp. 1–10, 2012, DOI: 10.1155/2012/329389.
E. Rashedi, H. Nezamabadi-pour, and S. Saryazdi, "GSA: A Gravitational Search Algorithm," Inf. Sci. (NY)., vol. 179, no. 13, pp. 2232–2248, 2009, DOI: 10.1016/j.ins.2009.03.004.
R. E. Haber, R. Haber-Haber, R. M. Del Toro, and J. R. Alique, "Using simulated annealing for optimal tuning of a PID controller for time-delay systems. An application to a high-performance drilling process," Lect. Notes Comput. Sci. (including Subsea. Lect. Notes Artif. Intell. Lect. Notes Bioinformatics), vol. 4507 LNCS, pp. 1155–1162, 2007, DOI: 10.1007/978-3-540-73007-1_140.
Y. Peng, X. Luo, and W. Wei, “A new control method based on artificial immune adaptive strategy,” Elektron. ir Elektrotechnika, vol. 19, no. 4, pp. 3–8, 2013, doi: 10.5755/j01.eee.19.4.1246.
P. W. Tsai, J. S. Pan, B. Y. Liao, and S. C. Chu, "Enhanced artificial bee colony optimization," Int. J. Innov. Comput. Inf. Control, vol. 5, no. 12, pp. 5081–5092, 2009, DOI: 10.1002/elps.200900194.
J. B. Odili, M. N. M. Kahar, and A. Noraziah, "Parameters-Tuning of PID controller for automatic voltage regulators using the African buffalo optimization," PLoS One, vol. 12, no. 4, pp. 1–17, 2017, DOI: 10.1371/journal.pone.0175901.
Kumar, S., Rastogi, V., & Gupta, P. (2014). Trajectory Control of Single Arm Underwater Flexible Welding Robot using Bond Graphs. In The Proceedings of the 2014 International Conference on bond graph modeling and simulation (ICBGM’2014), Simulation Series (Vol. 46, No. 8, pp. 79-84).
Srinivasan, S., Latchman, H., Shea, J., Wong, T., & McNair, J. 2004, October. Airborne Traffic Surveillance Systems: Video Surveillance of Highway Traffic. In Proceedings of the ACM 2nd International Workshop on Video Surveillance & Sensor Networks. 131-135. DOI: http://dx.doi.org/10.11113/jt.v79.9987
Sandeep Yadav, Sunil Kumar, Manoj Goyal “PID Tuning and Stability Analysis of Hybrid Controller for Robotic Arm Using ZN, PSO, ACO, and GA” ( int. rev. of mechanical engineering),vol .16, No.5 May 2022, DOI: 10.15866/ireme.v16i5.21982
Kumar, S., Rastogi, V., & Gupta, P. PID based impedance control scheme for flexible single arm underwater robot manipulator. In International Conference on New Frontiers in Engineering, Science & Technology [2018] (pp. 481-488).
Jangid, Mahendra Kumar, Sunil Kumar, and Jagtar Singh. "Trajectory tracking optimization and control of a three three-links manipulator for application in casting." International Journal of Advanced Technology and Engineering Exploration 8, no. 83 (2021): 1255. http://dx.doi.org/10.19101/IJATEE.2021.874468
Downloads
Published
How to Cite
Issue
Section
License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
All papers should be submitted electronically. All submitted manuscripts must be original work that is not under submission at another journal or under consideration for publication in another form, such as a monograph or chapter of a book. Authors of submitted papers are obligated not to submit their paper for publication elsewhere until an editorial decision is rendered on their submission. Further, authors of accepted papers are prohibited from publishing the results in other publications that appear before the paper is published in the Journal unless they receive approval for doing so from the Editor-In-Chief.
IJISAE open access articles are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. This license lets the audience to give appropriate credit, provide a link to the license, and indicate if changes were made and if they remix, transform, or build upon the material, they must distribute contributions under the same license as the original.
