Intelligent control strategy for robotic arm by using adaptive inertia weight and acceleration coefficients particle swarm optimization

Tzuu Hseng S. Li, Ping Huan Kuo, Ya Fang Ho, Guan Hong Liou

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper proposes an intelligent control strategy for enabling a robotic arm to grasp and place water-filled bottles without spilling any of the water. First, the system architecture of a five-degree-of-freedom robotic arm and its mechanical design are introduced. Second, both the forward and inverse kinematics of the robotic arm are derived. The study conducted an experiment in which the designed and implemented robotic arm could grasp a bottle of water and move it to another place. However, if the acceleration or the orientation of the robotic arm were inappropriate, the water in the bottle may be spilled during the movement. Therefore, the proposed strategy applies an inertial measurement unit for obtaining relevant information. According to the obtained information, the velocity curves of each joint could be optimized by adaptive inertia weight and acceleration coefficients particle swarm optimization. Finally, the experimental results demonstrated the feasibility and effectiveness of the proposed method.

Original languageEnglish
Article number8822693
Pages (from-to)126929-126940
Number of pages12
JournalIEEE Access
Volume7
DOIs
Publication statusPublished - 2019 Jan 1

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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