Title: Optimal controller design for fully decoupled 3D transnational pantograph manipulator for high-speed pick and place
Authors: Manar Lashin; Abdullah T. Elgammal; Mohamed Fanni; Abdelfatah M. Mohamed; Tomoyuki Miyashita
Addresses: Benha Faculty of Engineering, Electrical Engineering Department, Benha University, Benha, 13511, Egypt ' Benha Faculty of Engineering, Electrical Engineering Department, Benha University, Benha, 13511, Egypt ' Mechatronics and Robotics Engineering Department, Egypt-Japan University of Science and Technology, E-JUST- Alexandria, Egypt ' Mechatronics and Robotics Engineering Department, Egypt-Japan University of Science and Technology, E-JUST- Alexandria, Egypt ' Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan
Abstract: This work introduces the dynamic modelling and control for a new 3D translational pantograph manipulator. The new manipulator performs pure decoupled translational motions, high speed, rigidity besides its large workspace to size ratio. The complexity of the dynamic model obtained by using Euler-Lagrange first type method prevent using conventional controllers. A new controller is proposed to deal with such complexity called inverse optimal PID with Feed-Forward Control, which is designed in H∞ framework. It has the following merits; robustness, optimality and efficient execution without the need of explicit forms of dynamic matrices. A comparative study has been carried out to validate the performance of the proposed controller and PD like fuzzy controller. The performance of the proposed controller is compared under two standard pick and place cycle with different speed for the case of payload variations. The dynamic simulation is carried out via co-simulation of MSC-ADAMS® and MATLAB®/Simulink software.
Keywords: optimal control; robust controller; feed-forward; pantograph; PD like fuzzy.
International Journal of Mechatronics and Automation, 2018 Vol.6 No.4, pp.160 - 172
Received: 12 Oct 2017
Accepted: 28 May 2018
Published online: 03 Oct 2018 *