Design and Implementation of an Optimized PID Controller for TwoLimb Robot Arm Control

Abstract

Advances in technology have increased the use of robot arms and led to more research and development on robot arms. Controllability, which is the main focus of the studies on robot arms, generally provides speed and precision to robot arms. In this study, a two-limbed robot arm is controlled using the MATLAB support package for Arduino Hardware, and a microcontroller is used to optimize the control of this robot arm with a PID controller. In addition, in the direct current (DC) brushed motor system, the transfer function was obtained using values from the motor data sheet. Feedback is provided to this control system with a Hall-effect encoder. For the square reference tracking of the gripper end of the two-armed robot arm, the controller parameters were obtained by particle swarm (PSO), artificial bee colony (ABC), and chaos game optimization (CGO) algorithms, and these parameters were applied to the robot arm. The CGO algorithm, which is one of the methods in the literature and has become popular in recent years, was used for the first time to determine the PID parameters. It has been shown that the CGO algorithm can be used to determine the coefficients of the PID controller.