Optimal controller design for fully decoupled 3D transnational pantograph manipulator for high-speed pick and place
by Manar Lashin; Abdullah T. Elgammal; Mohamed Fanni; Abdelfatah M. Mohamed; Tomoyuki Miyashita
International Journal of Mechatronics and Automation (IJMA), Vol. 6, No. 4, 2018

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.

Online publication date: Wed, 03-Oct-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com