Optimisation of swing-up control parameters for a robot gymnast using the Bees Algorithm

Kamil, Haider, Eldukhri, Eldaw Elzaki and Packianather, Michael Sylvester ORCID: https://orcid.org/0000-0002-9436-8206 2012. Optimisation of swing-up control parameters for a robot gymnast using the Bees Algorithm. Presented at: 8th International Symposium on Intelligent and Manufacturing Systems (IMS2012), Antalya, Turkey, 27 - 28 September 2012. Proceedings of 8th International Symposium on Intelligent and Manufacturing Systems (IMS 2012). Amtalya: Sakarya University Department of Industrial Engineering, pp. 456-466.

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Abstract

This paper focuses on using the Bees Algorithm for optimising the parameters of the swing-up control for a robot gymnast (Robogymnast) attached to a freely rotating high bar mounted on ball bearings. Robogymnast, which mimics a human acrobat, consists of three links and three joints. Its motion is manipulated by two DC motors mounted at the shoulders and hip joints. The freely rotating high bar represents the third joint to which link 1 (hands and arms as a single rigid part) is firmly attached. Although, this triple pendulum-like structure is difficult to balance at upright posture, its unpowered joint is advantageous during the swing-up phase. The ultimate challenge was to smoothly swing up Robogymnast from the downward (stable) position to the upright (unstable) configuration by finding optimum values of the parameters that regulate the amplitudes and frequencies of the sinusoidal signals applied to the two DC motors. The Bees Algorithm was used as an optimization technique to achieve this. From the randomly obtained set of parameter values, three were selected to simulate the behavior of Robogymnast during the swing-up phase. The results showed successful swing-up of Robogymnast.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Subjects:	T Technology > TJ Mechanical engineering and machinery
Publisher:	Sakarya University Department of Industrial Engineering
Last Modified:	09 Nov 2022 09:14
URI:	https://orca.cardiff.ac.uk/id/eprint/44584

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