Self-optimizing Robot Control Based on Adaptive Genetic Algorithms

Self-optimizing Robot Control Based on Adaptive Genetic Algorithms

연구 분야: Software Development

학회: 2020 IEEE 4th Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)

For the problem of a robot PID servo controller for CNC machine tools, a self-tuning control strategy of the robotbased on adaptive genetic algorithm was proposed on the basis of the analysis of the inherent defect for the traditional PID control-ler. The structure principle of self-tuning PID controller for robot based on genetic algorithm was designed, and the optimization ob-jective function was constructed according to the performance requirements. The algorithm of self-tuning PID controller based onadaptive genetic algorithm was designed and realized. Finally a simulation experiment was tested, and the results show that the de-sign method can effectively improve the dynamic response ability and tracking precision of the control system for robot, which en-sures the feasibility and effectiveness of the self-optimizing control algorithm.