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SỬ DỤNG GIẢI THUẬT DI TRUYỀN TÌM KIẾM THÔNG SỐ PID ĐIỀU KHIỂN ROBOT SCARA BÁM THEO QUỸ ĐẠO CHO TRƯỚC

The major purpose of this thesis is how to apply the Genetic Algorithm (GA) to estimate
the PID controller’s parameters: Kp, Ki and Kd which is used to control the robot SCARA’s moving based on a given trajectory planning. First, the PID’s parameters are estimated, and the simulation result also show that the proposed algorithm for search using GA is good. The large range searching is an advantage. After that I perform verifiable the results of the GA on the experimental model. The experimental results show the shape and movement trajectory of the Robot that is relatively like the simulation results. The GA’s disadvantage is the response time slower than the different methods.

Từ khóa: Genetic algorithm, PID controller, trajectory planning

9 p ovanketv4 06/07/2017 686 6

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