iJournals: International Journal of Software & Hardware Research in Engineering (IJSHRE) ISSN-2347-4890 Volume 10 Issue 1 January 2022 Salih M. Attya, Volume 10 Issue 1, pp 88-97, January 2022 Optimized PID Controller based on Artificial Bee Colony Algorithm for Robot Arm Author: Salih M. Attya College of Electronics Engineering / Ninevah University /Mosul, Iraq salih.attya@uoninevah.edu.iq DOI: 10.26821/IJSHRE.10.1.2022.100102 Abstract: In this paper, an efficient method based on Artificial Bee Colony (ABC) metheuristic is implemented for tuning PID controllers In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers. In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers. This paper deals with design and optimization of a proportional, integral and derivative (PID) controller tuned by Ziegler-Nichols method (ZN) by using artificial bee colony (ABC) optimization algorithm. This algorithm was used to find the optimal parameters of the controller to have optimal performance of a robot arm. A comparative study has been made to highlight the advantage of using ABC-based controller over a ZN-based controller. The validity of the controller tuning algorithms was tested in process control where the optimal tuning procedure of PID controller has also been performed by ABC with different colony sizes. From the perspectives of time-domain performance criteria, such as rise time, overshoot, settling time and steady-state error, the controller tuned by ABC gives better dynamic performances than controllers tuned by the ZN. Keywords: Robot arm, Artificial Bee Colony (ABC), PID controller, Ziegler-Nichols (ZN) Method. 1-Introduction: The arm of a robot has a number of joints where each joint gives the robot arm at least one degree of freedom. The modeling approach that has been used for the robot joints treats each joint of the robot as a simple joint servomechanism while ignoring the effect of other joints movements. As an actuator to drive the robot arm in industrial robots, hydraulic or pneumatic actuators could be used but electrical motors are more common due to their excellent speed and position control characteristics. For this reason, the actuator that has been used is assumed to be DC servo motor where it has been used widely in industry. Another assumption is that there is a gear box has been used since it is essential to increase the torque and reduce the rotational speed [1]. Proportional-Integral-Derivative (PID) controllers have been widely used for speed and position control of robot arms. This paper endeavors to design a PID controller using ZN then using another method to design and optimize PID controller using Artificial Bee Colony Optimization (ABC) method to control the position of robot arm joints. Design methods aim to find the optimal gains of PID controller for the given system (plant). It is important to analyze the contribution of each part of the PID controller in order to understand the importance of each of them individually where the proportional gain makes the controller respond to the instant error while the integral and derivative gains takes in account the pervious errors and the rate of change of the error to eliminate steady state error and prevent overshoot respectively [2]. Using ABC algorithm to perform the tuning of the controller will result in the optimum controller being evaluated for the system every time [3].