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- W4361801911 abstract "In this paper, the proposed system to control the robotic by using an adaptive controller and using the artificial neural network with optimized PID by using the PSO is used to regulate the motion of a robot. The problems of reverse kinematic is solved by using a proposed method which is important to determine the robotic arm joints angle values , when traced in a different path. The D-H approach Devavit – Hartenberg can be used to solve the Forward Kinematics problem. The dynamic model was computedusing the Lagrange model, which is a mathematical model. Computing a dynamic model was a crucial step in designing a robotics control. The proposed adaptive controller, which is based on a PSO-optimized artificial neural network, is utilized to increase system response. In this paper designing a GUI by using MATLAB to compute the inverse and forward kinematics and to compute the trajectory planning. Derived the inverse kinematic and the forward kinematic by traditional methods is complicated, by applying the proposed method is an easier and fast way. The main problem in the dynamic model was the non-linearity, so by using the proposed method, this method will selects optimal parameters of the PID controller that overcome the plant non-linearity. The performance of the system show good response when using the proposed method. Rom the simulation results the overshot approaches to the zero the raising time reduced to 0.11 for the first joint1, the best settling time is 0.24 in the first joint, in joint 3 the delay time was reduced to the 0.1. Based on these findings, the suggested method outperforms other standard methods such as PID controller in terms of system performance." @default.
- W4361801911 created "2023-04-05" @default.
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- W4361801911 date "2023-01-01" @default.
- W4361801911 modified "2023-09-25" @default.
- W4361801911 title "Design of adaptive controller for robot arm manipulator based on ANN with optimized PID by PSO algorithm" @default.
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- W4361801911 doi "https://doi.org/10.1063/5.0119600" @default.
- W4361801911 hasPublicationYear "2023" @default.
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