Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller

doi:10.1007/s11633-020-1249-9

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	Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller
	Auday Al-Mayyahi ; Ammar A. Aldair 2; Chris Chatwin 1
刊名	International Journal of Automation and Computing
	2020
卷号	17 期号:6 页码:822-836
关键词	3-RRR planar parallel robot Cayley-Menger determinants inverse kinematic model bilateration fraction order proportional integral derivate (PID) controller bat optimization algorithm.
ISSN号	1476-8186
DOI	10.1007/s11633-020-1249-9
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42383]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Department of Engineering and Design, School of Engineering and Informatics, University of Sussex, Brighton BN1 9RH, UK 2.Department of Electrical Engineering, College of Engineering, University of Basrah, Basrah, Iraq
推荐引用方式 GB/T 7714	Auday Al-Mayyahi,Ammar A. Aldair,Chris Chatwin. Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller[J]. International Journal of Automation and Computing,2020,17(6):822-836.
APA	Auday Al-Mayyahi,Ammar A. Aldair,&Chris Chatwin.(2020).Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller.International Journal of Automation and Computing,17(6),822-836.
MLA	Auday Al-Mayyahi,et al."Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller".International Journal of Automation and Computing 17.6(2020):822-836.