TY - JOUR
T1 - Serial Manipulator Control Optimization Using Ant Colony Algorithm
AU - Mendrofa, Albert Harazaki
AU - Muis, Abdul
N1 - Funding Information:
This research is funded by Universitas Indonesia research grant of International Indexed Publication (PUTI) 2020 No. NKB-3791/UN2.RST/HKP.05.00/2020. Partly supported by Beasiswa Saintek – Pusat Pendidikan dan Pelatihan Kemenristek/BRIN
Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2021/8/12
Y1 - 2021/8/12
N2 - Serial manipulator is one of robot type that commonly used on industry. The high Degree of Freedom (DoF) of serial manipulator lead to more flexibility on manipulation but at the same time it also lead to more complex mathematical model of serial manipulator. Because of this complexity, we cannot use the common Proportional-Integral-Derivative (PID) tuning method such as Ziegler-Nichols and Cohen-Coon while the parameter on controller is need to be optimal in order to reduce the error during position control and avoid instability which may cause hazard to the operator. Ant colony algorithm proposed to optimize the controller of serial manipulator and result of optimization evaluated through experiment.
AB - Serial manipulator is one of robot type that commonly used on industry. The high Degree of Freedom (DoF) of serial manipulator lead to more flexibility on manipulation but at the same time it also lead to more complex mathematical model of serial manipulator. Because of this complexity, we cannot use the common Proportional-Integral-Derivative (PID) tuning method such as Ziegler-Nichols and Cohen-Coon while the parameter on controller is need to be optimal in order to reduce the error during position control and avoid instability which may cause hazard to the operator. Ant colony algorithm proposed to optimize the controller of serial manipulator and result of optimization evaluated through experiment.
UR - http://www.scopus.com/inward/record.url?scp=85112752253&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/1993/1/012026
DO - 10.1088/1742-6596/1993/1/012026
M3 - Conference article
AN - SCOPUS:85112752253
SN - 1742-6588
VL - 1993
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012026
T2 - 14th International Conference on Computer and Electrical Engineering, ICCEE 2021
Y2 - 25 June 2021 through 27 June 2021
ER -