Control+of+a+3-RRR+Planar+Parallel+Robot+Using+Fractional+Order+PID+Controller.pdf (2.08 MB)
Control of a 3-RRR planar parallel robot using fractional order PID controller
journal contribution
posted on 2023-06-12, 09:31 authored by Auday Al-Mayyahi, Ammar A Aldair, Chris ChatwinChris Chatwin3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed using an open-loop spatial robotic platform. The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints. The main variables in our design are the platform base positions, the geometry of the joint angles, and links of the 3-RRR planar parallel robot. These variables are calculated based on Cayley-Menger determinants and bilateration to determine the final position of the platform when moving and placing objects. Additionally, a proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot. The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller. Furthermore, real-time implementation has been tested to prove that the design performance is practical.
History
Publication status
- Published
File Version
- Published version
Journal
International Journal of Automation and ComputingISSN
1476-8186Publisher
Springer VerlagExternal DOI
Page range
1-16Department affiliated with
- Engineering and Design Publications
Research groups affiliated with
- Industrial Informatics and Signal Processing Research Group Publications
Full text available
- No
Peer reviewed?
- Yes