Abstract

A controller of a manipulator has studied and discussed for many years. However, many problems in controlling the precise position of the end effector are still continuing to be studied. To solve the precision of the Robot, two problems are attended. The first thing is to find the accuracy model of dynamics. The second thing is a controller for control law. However, it is so difficult to find an accurate model or differential equations of motion which is similar to the true manipulator. In addition, some unknown influences on the manipulator will make the accurate differential equations unworthy. Thus, a control algorithm will be introduced with PID controller which coefficients Kp, Kd, Ki are compensated by compensator found from optimization algorithm. With the new algorithm, the results have proved the stability and precision are better.