Optimized PID controller design for position control of a two-limb robot arm

In today's technology age, robot arms play an active role in every aspect of our lives. With the developing industry, the importance of robot arms is increasing day by day. One of the most difficult parts in the operation of robot arms is its control. If the robot arm is desired to move as desired, its control is of great importance. Within the scope of this thesis, it is thought that a two-limb robot arm can be controlled with an optimized proportional integral derivative controller (PID) with a microcontroller. The kinematic operations required for the control of a two-legged robot arm are logically programmed with the Matlab support Package for Arduino. In this study, the transfer function for a DC brushed motor was found by the values determined in the catalog section. The feedback for the control system is obtained thanks to the field-effect encoder. Separate position control was carried out for the motor on each axis forming the two-legged robot arm. In the position control performed for each motor, particle swarm, artificial bee colony, chaos game optimization algorithms and controller parameters were determined and the results obtained with the reference position value determined on the robot arm were compared. In this thesis, the reference square trajectory and the circular trajectory determined after the position control were performed with a two-legged robot arm. The parameters of the PID controller designed for square and circle orbits are again obtained with particle swarm, artificial bee colony, chaos game optimization algorithms. With the PID parameters found as a result of each optimization algorithm, the robot arm is directed in the direction of the determined square and circle and the results are obtained in real time. As a result of three metaheuristic optimization algorithms for each trajectory, trajectory tracking and the obtained controller parameters were performed on the controller and the optimization algorithms were compared.