A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator

doi:10.3390/s22186860

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	A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator
	M. J. Liu; T. Y. Liu; M. C. Zhu and L. H. Chen
	2022
发表期刊	Sensors
卷号	22 期号:18 页码:15
摘要	In order to solve the tracking accuracy problem of the redundant manipulator, a PI control method with Henry gas solubility optimization parameter regulator (PI-HGSO) is proposed in this paper. This method consists of the controller and the parameter regulator. The characteristic is that the position deviation of a manipulator is equivalent to a specific function; namely, the proportional-integral (PI) controller is used to adjust the deviation input. The error can be better corrected by the processing of the PI controller so that the inverse kinematics solution of the minimum error can be realized. At the same time, the parameter selection of PI controllers has always been a difficulty in controller design. To address the problem, Henry gas solubility optimization (HGSO) is selected as a parameter regulator to optimize the parameters and obtain the optimal controller, thereby achieving high-precision trajectory tracking. Experiments on 9-DOF redundant manipulator show that our method achieves competitive tracking accuracy in contrast with others. Meanwhile, the efficiency and accuracy of the PI controller are greatly guaranteed by using HGSO to automatically optimize controller parameters instead of making approximate adjustments through infinite manual trial and error. Therefore, the feasibility and competitive superiority of PI-HGSO is fully proved in trajectory planning of redundant manipulators.
DOI	10.3390/s22186860
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收录类别	sci ; ei
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/66989
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	M. J. Liu,T. Y. Liu,M. C. Zhu and L. H. Chen. A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator[J]. Sensors,2022,22(18):15.
APA	M. J. Liu,T. Y. Liu,&M. C. Zhu and L. H. Chen.(2022).A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator.Sensors,22(18),15.
MLA	M. J. Liu,et al."A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator".Sensors 22.18(2022):15.

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