Optimal controller design for fully decoupled 3D transnational pantograph manipulator for high-speed pick and place

摘要

This work introduces the dynamic modelling and control for a new 3D translational pantograph manipulator. The new manipulator performs pure decoupled translational motions, high speed, rigidity besides its large workspace to size ratio. The complexity of the dynamic model obtained by using Euler-Lagrange first type method prevent using conventional controllers. A new controller is proposed to deal with such complexity called inverse optimal PID with Feed-Forward Control, which is designed in H_∞ framework. It has the following merits; robustness, optimality and efficient execution without the need of explicit forms of dynamic matrices. A comparative study has been carried out to validate the performance of the proposed controller and PD like fuzzy controller. The performance of the proposed controller is compared under two standard pick and place cycle with different speed for the case of payload variations. The dynamic simulation is carried out via co-simulation of MSC-ADAMS and MATLAB/Simulink software.