Model Free Control of Geomagic OMNI Manipulator

Abstract

In this thesis, we investigate the trajectory tracking control of the OMNI manipulator utilizing advanced beetle bee algorithms. Inspired by the beetle's foraging behavior, a metaheuristic algorithm is employed to guide the manipulator through unknown environments using antennae-like mechanisms. Traditional Beetle Antennae Search (BAS) algorithms often exhibit slow convergence rates, particularly in high-dimensional systems. To overcome this limitation, we propose novel beetle bee methodologies that integrate supplementary techniques to enhance convergence speed and efficiency in complex systems. This thesis introduces three hybrid algorithms: incorporating incremental PID control, integrating the Beetle Swarm Optimization (BSO) algorithm, and leveraging angular velocity tracking. Comparative analyses between the proposed algorithms and state-of-the-art metaheuristic approaches will be conducted through simulations. Additionally, experimental evaluations on the OMNI manipulator system will showcase the enhanced trajectory optimization achieved with the improved Beetle Bee algorithm.Dr. Ya-Jun Pan