Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller
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ol of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller Auday Al-Mayyahi 1 Ammar A. Aldair 1 Chris Chatwin 2 1 Department of Electrical Engineering, College of Engineering, University of Basrah, Basrah, Iraq 2 Department of Engineering and Design, School of Engineering and Informatics, University of Sussex, Brighton BN1 9RH, UK
Abstract: 3-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. Keywords: 3-RRR planar parallel robot, Cayley-Menger determinants, inverse kinematic model, bilateration, fraction order proportional integral derivate (PID) controller, bat optimization algorithm.
1 Introduction Dexterous movement of robotic manipulators has received significant attention from researchers to enhance the reachable workspace, which can significantly improve industrial automation applications[1]. Robotic manipulators can be constructed using different architectures, i.e., serial, parallel, or hybrid manipulators. The first structure is the serial manipulator and this type of robotic manipulator consists of only one serial chain of links. Serial manipulators can be controlled to reach a high degree of freedom based on the number of links. They are widely applied in industrial applications. The second type of manipulators can be designed using a parallel mechanism which exhibits some advantages in terms of dynamic response and accuracy. Furthermore, parallel manipulators can be utilized for applications that need high speed, accuracy, and stiffness[2]. Finally, a hybrid manipulator[3] can be constructed based on a combination of serial and parallel manipulators or multiple parallel manipulators connected in sequence. Other hybrid configurations can be created based on different industrial requirements. Such config
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