Modeling and Simulation For One Leg of Quadruped Robot Using GSA PID Controller
Designing a robot leg with great performance is one of the interest parts in designing legged robot. This is due to the nonlinearities and input couplings presented in the dynamics of the robot leg. Feedback control system such as classical PID controller is widely used to control the response of the system. This study considered the problems of modelling and control of a 3 degree of freedom for one leg of quadruped robot. The drawbacks exist in conventional PID such as tuning three-term control can be time consuming and system unstable behaviour. Therefore, we introduce a variant tuning technique to calculate the best PID values. The research work was divided into several developmental stages; Firstly, the complete mathematical model of a 3 DOF of one leg using trigonometry method including the dynamics of servomotors actuators in the state variable form is to be developed. Then, the GSA PID Controller is applied to the robot leg. To perform the simulation, Solid Works 2013 x64 Edition is used to develop the 3D modelling of the leg while Sim Mechanics with First Generation Format was applied to export the models to Simulink. The simulation was done on desktop with 64 bit Windows 7 Professional, 8 GB installed memory and Intel(R) Xeon(R) 3.7 Ghz processor. Lastly, the performance of GSA PID controller is to be compared with the conventional controller which is PID. The simulation results show that the best PID values can be obtain very quickly and the output performance of GSA PID is better than the performance of conventional method of PID controller.
Keywords- Sim Mechanics, Legged robot, GSA PID.