Chapters authored
A Novel PID Robotic for Speed Controller Using Optimization Based Tune Technique
One of the most significant issue of proportional integral derivative (PID) controller is the efforts to optimize coefficient gains. Based on survey, massive tuning methods were proposed to resolve this problem but there is little pay attention to maximize minimization time response significantly. This study proposed a novel technique to maximize optimization PID gains for the DC motor controller by combining both proper tuning method with signal input signal output (SISO) optimization toolbox using optimization based tune (OBT) techniques, that could be utilized for the highest precision controller. The comparative study has been carried out by applying five different tuning methods to obtain a proper tuning controller, then to be combined with SISO optimization toolbox. The utilized tuning methods are Robust Auto tune (RAT), Ziegler–Nichols (Z-N), Skogestad Internal Model Control (SIMC), Chien Hroues Reswick (CHR), and Approximate M-Constrained Integral Gain Optimization (AMIGO). The performance of each tuning methods based OBT are analyzed and compared using MATLAB/SISO tool environment, where the efficiency has been assessed on a basis of time response characteristics (Ti) in terms of dead time (td), rise time (tr), settling time (ts), peak time (tp) and peak overshoot (Pos). The simulation results of AMIGO based proposal show a significant reduction time response characteristic to be measured in the Microsecond unit (μs). The novelty feature of the proposed is that provides superior balancing between robustness and performance. This study has been completely rewritten to account for the robotic controller development that has been taken place in the last years.
Part of the book: Computational Optimization Techniques and Applications
Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm
This chapter focuses on the design of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. Optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing activities. The aim is to improve the speed performance using multi techniques starting from estimating the transfer function of each manipulated joint, then designing the controller for each DOF reached to modeling arm motion. The designed model has been developed the structural design and testing motion characteristics by using SolidWorks and Simscape toolbox. To enhance the speed performance, it is proposed a High-Speed Proportional Integral Derivative controller (HSPID) based on an improved GA. The comparison response time between uncontrolled and controlled systems proves that the proposed controller produced extreme reduction responses to be measured within the Microsecond unit. Based on trajectory motion, the efficiency of the proposed method is assured by case study motions. The innovative design offers the best solution to rise accurate performance and productivity.
Part of the book: Human-Robot Interaction