Dimension Synthesis and Optimized FOPID Control of the Delta Robot with Moth Swarm Algorithm

Basit Öğe Kaydı
dc.authoridYigit, Tevfik/0000-0002-9275-359X
dc.authoridCelik, Hakan/0000-0002-2861-3269
dc.contributor.authorYigit, Tevfik
dc.contributor.authorCelik, Hakan
dc.date.accessioned2024-11-07T13:25:27Z
dc.date.available2024-11-07T13:25:27Z
dc.date.issued2023
dc.departmentNiğde Ömer Halisdemir Üniversitesi
dc.description.abstractIn this study, Delta robot that one of the most studied and used robot and has distinctive advantages and parallel structure, has been optimized in point of dimensions. 3D solid model of the optimized robot model transferred to MATLAB/Simulink environment. Dimensions of the Delta robot have been obtained to ensure desired workspace with minimum dimensions with moth swarm algorithm (MSA) optimization and particle swarm optimization (PSO). Widely known PSO algorithm has been used for the measure to the performance of the MSA algorithm that is new to the literature. Joints of the robot actuated with the brushless DC (BLDC) motors. System has been controlled fractional-order PID (FOPID) controller. Also integer-order PID controller (IOPID) has been used to clearly see the performance of the FOPID with the aim of comparison. Parameters of both of these controllers are optimized with MSA optimization in equal conditions. When the optimization cost results and the performance test results are examined, it is seen that the FOPID controller performed better than IOPID controller. Designed Delta robot system has been tested with different scenarios, and robotic system has been achieve that this scenarios with high performance.
dc.identifier.doi10.1007/s13369-023-07601-6
dc.identifier.endpage6902
dc.identifier.issn2193-567X
dc.identifier.issn2191-4281
dc.identifier.issue5
dc.identifier.scopus2-s2.0-85146544867
dc.identifier.scopusqualityQ1
dc.identifier.startpage6889
dc.identifier.urihttps://doi.org/10.1007/s13369-023-07601-6
dc.identifier.urihttps://hdl.handle.net/11480/14724
dc.identifier.volume48
dc.identifier.wosWOS:000916121300002
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer Heidelberg
dc.relation.ispartofArabian Journal For Science and Engineering
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241106
dc.subjectDelta robot
dc.subjectDimension synthesis
dc.subjectFractional-order PID
dc.subjectMoth swarm algorithm
dc.titleDimension Synthesis and Optimized FOPID Control of the Delta Robot with Moth Swarm Algorithm
dc.typeArticle

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu