PSO-BASED RESONANT CONTROLLER FOR TRAJECTORY TRACKING OF ROBOT MANIPULATOR

This paper addresses the problem of path following for robotic systems. Specifically, a robot manipulator with three degrees of freedom must consecutively track an elliptic curve in space while adhering to a prescribed velocity law. Given that robots are highly nonlinear mechanical systems, achieving this objective is a complex task. Therefore, the mathematical model of the robot manipulator is transformed into a more manageable linear form, based on the actuator dynamics. To achieve high-accuracy path following, a model-based resonant controller is proposed. While this type of controller is not novel within the control community, its application in robotics remains relatively unexplored. To minimize tracking error, a particle swarm optimization (PSO) algorithm is employed, with an appropriate objective function designed to achieve the desired goal. The primary contribution of this paper lies in the integration of this metaheuristic algorithm with the complex resonant controller. Extensive simulations are conducted for various velocities of the robot’s end-effector, and the results are consistent with the expected dynamic behavior.