Research Article
Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 179 - Issue 34 |
| Published: Apr 2018 |
| Authors: Sherif G. Ahmad, Ahmad S. Elbanna, Mohamad S. Elksas, Fayez G. Areed |
10.5120/ijca2018916772
|
Sherif G. Ahmad, Ahmad S. Elbanna, Mohamad S. Elksas, Fayez G. Areed . Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator. International Journal of Computer Applications. 179, 34 (Apr 2018), 37-42. DOI=10.5120/ijca2018916772
@article{ 10.5120/ijca2018916772,
author = { Sherif G. Ahmad,Ahmad S. Elbanna,Mohamad S. Elksas,Fayez G. Areed },
title = { Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator },
journal = { International Journal of Computer Applications },
year = { 2018 },
volume = { 179 },
number = { 34 },
pages = { 37-42 },
doi = { 10.5120/ijca2018916772 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2018
%A Sherif G. Ahmad
%A Ahmad S. Elbanna
%A Mohamad S. Elksas
%A Fayez G. Areed
%T Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator%T
%J International Journal of Computer Applications
%V 179
%N 34
%P 37-42
%R 10.5120/ijca2018916772
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper presents the modelling of three links rigid manipulator (TRLM) deriving its dynamic equations depending on Lagrange/Euler (L-E) method, the manipulator design and implementation has a complexity, uncertainty and instability dynamic features which lead to a non-linear characteristics, so controlling the manipulator means controlling multi-body multi-input multi-output (MIMO) non-linear and coupled system, the second part of this paper introduce a precise modified Proportional Integral Derivative (PID) controller to control the manipulator under applying different scenarios for the reference signal according to manipulator applications.
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