Design of a Three Degrees of Freedom (3R) Drawing Robot and Optimal Trajectory Control Using The Bees Algorithm

Abstract

In this study, the controller design for the position control of the terminal functionary of a three-degree-of-freedom (RRR) planar drawing robot and its optimization were realised with the developed swarm-based The Bees Algorithm (BA) inspired by the intuitive behavior of bees. First of all, the mathematical modeling of the system was obtained and advanced kinematic calculations were made. In addition to analytical calculations, Matlab/Simulink environment was used for multi-mass dynamic modeling and PID controller design of the system over the solid model of the system. Controller gains (Kp-proportional, Ki-integral, Kd-derivative) were determined by optimizing using AA, in order to minimize the orbital error of the terminal operator and to obtain an optimal PID controller. In addition, 8 (eight) and square drawings were plotted by using optimized PID parameters. The error comparison between the plotted drawings and the reference drawing was carried out according to the error values obtained by considering 11 different error criteria. After optimization, the percent accuracies for drawing 8 (eight) and the square drawing increase 2,0233% and 0,1711% in the X-Y plane respectively. The results obtained from the simulation and optimization studies of the system are presented and evaluated.