Design of Embedded Robotic Arm Angle Controller Based on Bacterial Foraging Algorithm
During designing robotic arm angle controllers,in order to improve the flexibility of robotic arms,and reduce the con-trol errors of robotic arm joint angle,an embedded robotic arm angle controller based on bacterial foraging algorithm is designed.Firstly,this paper construct the dynamic model of the robotic arm to obtain the flexible features and joint positions of the robotic arm,and determines the hardware logic structure and algorithm of the angle controller according to the obtained information.Then,the ARM microprocessor embedded operating system is used to design the controller hardware structure that includes the mobile control terminal and manipulator control terminal.Finally,the bacterial foraging algorithm is used to optimize the controller parameters,im-plement the controller code,and accurately track and control the angle of the robotic arm.The experimental results show that the pose tracking accuracy of the proposed method is up to 99％,the object offset distance is within 0.2 mm,and the control running time is between 0.33 s and 0.78 s.It indicates that the proposed method has small angle control errors and strong stability,and it can en-sure that the joint angle of the robotic arm is not overshoot,which has a high engineering application value.
embedded systemmicroprocessordynamic model of robotic armbacterial foraging algorithm
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