Research on material transportation robot based on PSO-PID controller

Yongjie Zhang

doi:10.1117/12.3025911

1 April 2024 Research on material transportation robot based on PSO-PID controller

Yongjie Zhang

Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 130820B (2024) https://doi.org/10.1117/12.3025911
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China

Abstract

The paper introduces a small material handling robot system, the system uses Arduino MEGA2560 + NVIDIA Jetson Nano master control to build the whole machine architecture, making full use of its underlying control advantages and arithmetic advantages, which can solve the problem of insufficient arithmetic performance of MCU system and insufficient convenience of the underlying hardware control of ROS system in the traditional robot control scheme. The system uses serial proportional integral derivative(PID) control algorithm to achieve closed-loop control of the robot, and realises self-tuning of PID parameters by particle swarm optimization(PSO) to solve the problems of difficult to guarantee the accuracy of manual parameter adjustment and long parameter adjustment cycle. The paper uses the test vehicle to test 2 kinds of motion control scenarios, and uses MATLAB to track the process of particle swarm parameter self-tuning, and obtains the conclusion that the particle swarm self-tuning is highly efficient and the accuracy is reliable.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yongjie Zhang "Research on material transportation robot based on PSO-PID controller", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 130820B (1 April 2024); https://doi.org/10.1117/12.3025911

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