When the robotic arm comes to a halt,residual vibrations occur due to flexibility,causing abnormal vibrations at the end of the robotic arm and failure in accurately reaching the desired position.To effectively control the abnormal vibrations at the end of the robotic arm,a control method based on PID parameter optimization is proposed.The difference between the actual position and the desired position of the robotic arm's end is computed,based on which control constraint parameters are determined.The immune-bee algorithm is introduced under the constraint of the desired difference to optimize the parameters of the PID controller.The positional PID controller,with the optimized parameters,is utilized to control the abnormal vibrations at the end of the robotic arm.The experimental results show that after the application of the proposed method,the amplitude of abnormal vibration at the end of the robotic arm is relatively low and the variation is relatively stable.The angle difference and offset of the robotic arm are both low,and the response time is short,which can achieve precise and fast control of abnormal vibration.
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