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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
journal cover thumbnail

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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