Novel PID Tracking Controller for 2DOF Robotic Manipulator System based on Artificial Bee Colony Algorithm

Nasr Elkhateeb, Ragia I. Badr


This work presents a well-developed optimization methodology based on dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for robotic arm manipulator. The dynamical analysis of the robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law obtained from the proposed (ABC) algorithm and applied on the robotic system. The designed controller optimizes the trajectory of the robot End-Effector’s for a time variant input and robust in presence of external disturbance.


Artificial intelligence; Control systems; Evolutionary computation; Robotic manipulators; Trajectory optimization


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Developed by Institute of Industrial Electronics and Electrical Engineering of RIGA TECHNICAL UNIVERSITY