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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
Year of Publication: 2018
Sherif G. Ahmad, Ahmad S. Elbanna, Mohamad S. Elksas, Fayez G. Areed

Sherif G Ahmad, Ahmad S Elbanna, Mohamad S Elksas and Fayez G Areed. Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator. International Journal of Computer Applications 179(34):37-42, April 2018. BibTeX

	author = {Sherif G. Ahmad and Ahmad S. Elbanna and Mohamad S. Elksas and Fayez G. Areed},
	title = {Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator},
	journal = {International Journal of Computer Applications},
	issue_date = {April 2018},
	volume = {179},
	number = {34},
	month = {Apr},
	year = {2018},
	issn = {0975-8887},
	pages = {37-42},
	numpages = {6},
	url = {},
	doi = {10.5120/ijca2018916772},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


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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Dynamic modelling, Three link rigid manipulator, Lagrange-Euler, PID controller, Differential evolution