Al-Mayyahi, Auday, Aldair, Ammar A and Chatwin, Chris (2020) Control of a 3-RRR planar parallel robot using fractional order PID controller. International Journal of Automation and Computing. pp. 1-16. ISSN 1476-8186

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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.

Item Type:	Article
Keywords:	3-RRR Planar Parallel Robot, Cayley-Menger determinants, Inverse Kinematic Model, Bilateration, Fraction order PID Controller, Bat Optimization Algorithm.
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Research Centres and Groups:	Industrial Informatics and Signal Processing Research Group
Subjects:	Q Science > QA Mathematics Q Science > QA Mathematics > QA0801 Analytic mechanics T Technology T Technology > TJ Mechanical engineering and machinery > TJ0170 Mechanics applied to machinery. Dynamics T Technology > TJ Mechanical engineering and machinery > TJ0181 Mechanical movements T Technology > TJ Mechanical engineering and machinery > TJ0210.2 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) T Technology > TJ Mechanical engineering and machinery > TJ0212 Control engineering systems. Automatic machinery (General) T Technology > TJ Mechanical engineering and machinery > TJ0227 Machine design and drawing T Technology > TJ Mechanical engineering and machinery > TJ0241 Machine construction (General)
Depositing User:	Chris Chatwin
Date Deposited:	29 Sep 2020 09:26
Last Modified:	12 Nov 2020 16:45
URI:	http://sro.sussex.ac.uk/id/eprint/94060

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