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Dynamic Modelling with a Modified PID Controller of a Three Link Rigid Manipulator

by Sherif G. Ahmad, Ahmad S. Elbanna, Mohamad S. Elksas, Fayez G. Areed
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 179 - Number 34
Year of Publication: 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 },
issue_date = { Apr 2018 },
volume = { 179 },
number = { 34 },
month = { Apr },
year = { 2018 },
issn = { 0975-8887 },
pages = { 37-42 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume179/number34/29221-2018916772/ },
doi = { 10.5120/ijca2018916772 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T00:57:26.614734+05:30
%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
%J International Journal of Computer Applications
%@ 0975-8887
%V 179
%N 34
%P 37-42
%D 2018
%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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Index Terms

Computer Science
Information Sciences

Keywords

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

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