{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T19:49:13Z","timestamp":1772567353972,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2022,9,10]],"date-time":"2022-09-10T00:00:00Z","timestamp":1662768000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["11672290"],"award-info":[{"award-number":["11672290"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In order to solve the tracking accuracy problem of the redundant manipulator, a PI control method with Henry gas solubility optimization parameter regulator (PI-HGSO) is proposed in this paper. This method consists of the controller and the parameter regulator. The characteristic is that the position deviation of a manipulator is equivalent to a specific function; namely, the proportional-integral (PI) controller is used to adjust the deviation input. The error can be better corrected by the processing of the PI controller so that the inverse kinematics solution of the minimum error can be realized. At the same time, the parameter selection of PI controllers has always been a difficulty in controller design. To address the problem, Henry gas solubility optimization (HGSO) is selected as a parameter regulator to optimize the parameters and obtain the optimal controller, thereby achieving high-precision trajectory tracking. Experiments on 9-DOF redundant manipulator show that our method achieves competitive tracking accuracy in contrast with others. Meanwhile, the efficiency and accuracy of the PI controller are greatly guaranteed by using HGSO to automatically optimize controller parameters instead of making approximate adjustments through infinite manual trial and error. Therefore, the feasibility and competitive superiority of PI-HGSO is fully proved in trajectory planning of redundant manipulators.<\/jats:p>","DOI":"10.3390\/s22186860","type":"journal-article","created":{"date-parts":[[2022,9,13]],"date-time":"2022-09-13T04:05:41Z","timestamp":1663041941000},"page":"6860","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A PI Control Method with HGSO Parameter Regulator for Trajectory Planning of 9-DOF Redundant Manipulator"],"prefix":"10.3390","volume":"22","author":[{"given":"Meijiao","family":"Liu","sequence":"first","affiliation":[{"name":"CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"School of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianyu","family":"Liu","sequence":"additional","affiliation":[{"name":"CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"School of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingchao","family":"Zhu","sequence":"additional","affiliation":[{"name":"CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liheng","family":"Chen","sequence":"additional","affiliation":[{"name":"CAS Key Laboratory of On-Orbit Manufacturing and Integration for Space Optics System, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1016\/j.mechmachtheory.2017.12.005","article-title":"A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis","volume":"121","author":"Zaplana","year":"2018","journal-title":"Mech. 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