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.