Optimization of PID Parameters of Flexible Gripper with PSO Using Various Objective Functions

Abstract

In this paper, a new flexible gripper for robots is designed. It is planned to use a DC motor to provide the movement of the wires in the structure of the designed flexible gripper. The speed control of DC motors is planned to be realized by the PID control method. The gain coefficients in the structure of PID control should be determined in an optimum way. For this purpose, the particle swarm optimization method was used to calculate the gain coefficients of PID control. Five different objective functions are applied to the system to obtain the best-performing gain coefficients.  As a result, the optimum gain coefficients were found with the Integral Absolute Error objective function, and the motors were successfully controlled by the PID control method.