Active force control of 3-RRR planar parallel manipulator
This paper presents a new and novel method to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator using an active force control (AFC) strategy. A traditional proportional-integral-derivative (PID) controller was first designed and developed to demonstrate the basic and stable re...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://eprints.utm.my/27120/1/AminNoshadi2010_ActiveForceControlof3RRRPlanarParallel.pdf |
| _version_ | 1796856358584188928 |
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| author | Mailah, Musa A., Noshadi A., Zolfagharian |
| author_facet | Mailah, Musa A., Noshadi A., Zolfagharian |
| author_sort | Mailah, Musa |
| collection | ePrints |
| description | This paper presents a new and novel method to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator using an active force control (AFC) strategy. A traditional proportional-integral-derivative (PID) controller was first designed and developed to demonstrate the basic and stable response of the manipulator in performing trajectory tracking tasks. Later, the AFC section was incorporated into the control scheme in cascade form by adding it in series with the PID controller (PID+AFC), its primary aim of which is to improve the overall system dynamic performance particularly when the manipulator is subjected to different loading conditions. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme in rejecting the disturbances compared to the traditional PID controller. |
| first_indexed | 2024-03-05T18:41:46Z |
| format | Conference or Workshop Item |
| id | utm.eprints-27120 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:41:46Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | utm.eprints-271202022-07-05T06:36:29Z http://eprints.utm.my/27120/ Active force control of 3-RRR planar parallel manipulator Mailah, Musa A., Noshadi A., Zolfagharian TJ Mechanical engineering and machinery This paper presents a new and novel method to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator using an active force control (AFC) strategy. A traditional proportional-integral-derivative (PID) controller was first designed and developed to demonstrate the basic and stable response of the manipulator in performing trajectory tracking tasks. Later, the AFC section was incorporated into the control scheme in cascade form by adding it in series with the PID controller (PID+AFC), its primary aim of which is to improve the overall system dynamic performance particularly when the manipulator is subjected to different loading conditions. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme in rejecting the disturbances compared to the traditional PID controller. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/27120/1/AminNoshadi2010_ActiveForceControlof3RRRPlanarParallel.pdf Mailah, Musa and A., Noshadi and A., Zolfagharian (2010) Active force control of 3-RRR planar parallel manipulator. In: ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings, 2010, Singapore. http://dx.doi.org/10.1109/ICMET.2010.5598495 |
| spellingShingle | TJ Mechanical engineering and machinery Mailah, Musa A., Noshadi A., Zolfagharian Active force control of 3-RRR planar parallel manipulator |
| title | Active force control of 3-RRR planar parallel manipulator |
| title_full | Active force control of 3-RRR planar parallel manipulator |
| title_fullStr | Active force control of 3-RRR planar parallel manipulator |
| title_full_unstemmed | Active force control of 3-RRR planar parallel manipulator |
| title_short | Active force control of 3-RRR planar parallel manipulator |
| title_sort | active force control of 3 rrr planar parallel manipulator |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/27120/1/AminNoshadi2010_ActiveForceControlof3RRRPlanarParallel.pdf |
| work_keys_str_mv | AT mailahmusa activeforcecontrolof3rrrplanarparallelmanipulator AT anoshadi activeforcecontrolof3rrrplanarparallelmanipulator AT azolfagharian activeforcecontrolof3rrrplanarparallelmanipulator |