International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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Volume 179 - Issue 34 |
Published: Apr 2018 |
Authors: Sherif G. Ahmad, Ahmad S. Elbanna, Mohamad S. Elksas, Fayez G. Areed |
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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 }, year = { 2018 }, volume = { 179 }, number = { 34 }, pages = { 37-42 }, doi = { 10.5120/ijca2018916772 }, publisher = { Foundation of Computer Science (FCS), NY, USA } }
%0 Journal Article %D 2018 %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%T %J International Journal of Computer Applications %V 179 %N 34 %P 37-42 %R 10.5120/ijca2018916772 %I Foundation of Computer Science (FCS), NY, USA
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.