Automatic design of control systems for robot manipulators using the bees algorithm

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dc.contributor.authorFahmy, A. A.
dc.contributor.authorKalyoncu, M.
dc.contributor.authorCastellani, M.
dc.date.accessioned2020-03-26T18:24:04Z
dc.date.available2020-03-26T18:24:04Z
dc.date.issued2012
dc.departmentSelçuk Üniversitesien_US
dc.description.abstractThis paper proves the capability of the bees algorithm to solve complex parameter optimization problems for robot manipulator control. Two applications are presented. The first case considers the modelling of the inverse kinematics of an articulated robot arm using neural networks. The weights of the connections between the nodes need to be set so as to minimize the difference between the neural network model and the desired behaviour. In the proposed example, the bees algorithm is used to train three multilayer perceptrons to learn the inverse kinematics of the joints of a three-link manipulator. The second case considers the design of a hierarchical proportional-integral-derivative (PID) controller for a flexible single-link robot manipulator. The six gains of the PID controller need to be optimized so as to minimize positional inaccuracies and vibrations. Experimental tests demonstrated the validity of the proposed approach. In the first case, the bees algorithm proved very effective at optimizing the neural network models. Compared with the results obtained employing the standard back-propagation rule and an evolutionary algorithm, the bees algorithm obtained superior results in terms of training accuracy and robustness. In the second case, the proposed method demonstrated remarkable efficiency and consistency in the tuning of the PID controller parameters. In 50 independent optimization trials, the PID controllers designed using the bees algorithm consistently outperformed a robot controller designed using a standard manual technique.en_US
dc.identifier.doi10.1177/0959651811425312en_US
dc.identifier.endpage508en_US
dc.identifier.issn0959-6518en_US
dc.identifier.issn2041-3041en_US
dc.identifier.issueI4en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage497en_US
dc.identifier.urihttps://dx.doi.org/10.1177/0959651811425312
dc.identifier.urihttps://hdl.handle.net/20.500.12395/27780
dc.identifier.volume226en_US
dc.identifier.wosWOS:000305571400006en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSAGE PUBLICATIONS LTDen_US
dc.relation.ispartofPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERINGen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectbees algorithmen_US
dc.subjectrobot controlen_US
dc.subjectoptimizationen_US
dc.subjectinverse kinematics modellingen_US
dc.subjectneural networksen_US
dc.subjecthierarchical proportional-integral-derivative robot controlen_US
dc.titleAutomatic design of control systems for robot manipulators using the bees algorithmen_US
dc.typeArticleen_US

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