Collaborative Position Control of Pantograph Robot Using Particle Swarm Optimization

This article presents the design and real-time implementation of an optimal collaborative approach to obtain desired trajectory tracking two Degree Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes Proportional Integral Derivative (PID) Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is optimally tune gains PID, weighting matrices LQR, ratio contributions. Initially, PID LQR parameters are tuned using PSO. In order enhance control effort provide more performance, weightages each kept constant. position strategy tested against controllers via hardware in loop trials on a robotic manipulator. Experimental results provided validate accurate controller. Results demonstrate that combination renders significant improvement 10% steady-state response about 37% transient over schemes.