标题： 使用遗传算法优化机器人机械臂的PID控制器参数 显示英文标题

标题： Optimize the parameters of the PID Controller using Genetic Algorithm for Robot Manipulators

摘要： 本文介绍了为两自由度机械臂设计的一种参数优化的比例-积分-微分（PID）控制器。提出了一种遗传算法（GA）来优化控制器参数，解决了与传统方法相比，在像机械臂这样的高度非线性系统中确定PID控制器参数的挑战。GA优化的PID控制器在控制精度和性能方面显著优于传统控制方法。仿真结果表明，机械臂系统能够以高精度和稳定性运行。此外，缩短的轨迹跟踪响应时间提高了该控制算法在现实场景中应用的可行性。这项研究不仅证实了PID-GA适用于机械臂及类似系统，还为将该算法应用于实际物理系统开辟了新的途径。 显示英文摘要

摘要： This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the challenges in determining PID controller parameters for highly nonlinear systems like robotic arms compared to traditional methods. The GA-optimized PID controller significantly improves control accuracy and performance over traditional control methods. Simulation results demonstrate that the robotic arm system operates with high precision and stability. Additionally, the shortened trajectory tracking response time enhances the feasibility of applying this control algorithm in realworld scenarios. This research not only confirms the suitability of PID-GA for robotic arms and similar systems but also opens new avenues for applying this algorithm to real physical systems.