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

G. Sherif | Zendy; S. Ahmad | Zendy; Mohamad Saad | Zendy; G. Fayez | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

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

Author(s) -

G. Sherif,

S. Ahmad,

Mohamad Saad,

G. Fayez

Publication year - 2018

Publication title -

international journal of computer applications

Language(s) - English

Resource type - Journals

ISSN - 0975-8887

DOI - 10.5120/ijca2018916772

Subject(s) - computer science , pid controller , manipulator (device) , link (geometry) , controller (irrigation) , control theory (sociology) , control engineering , control (management) , artificial intelligence , robot , computer network , temperature control , agronomy , engineering , biology

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.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research