Optimal controller design for fully decoupled 3D transnational pantograph manipulator for high-speed pick and place

Manar Lashin, Abdullah T. Elgammal, Mohamed Fanni, Abdelfatah M. Mohamed, Tomoyuki Miyashita

    Research output: Contribution to journalArticle

    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.

    Original languageEnglish
    Pages (from-to)160-172
    Number of pages13
    JournalInternational Journal of Mechatronics and Automation
    Volume6
    Issue number4
    DOIs
    Publication statusPublished - 2018 Jan 1

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    Keywords

    • Feed-forward
    • Optimal control
    • Pantograph
    • PD like fuzzy
    • Robust controller

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computational Mechanics
    • Industrial and Manufacturing Engineering
    • Computational Mathematics
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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