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Author Al Qahtani, H. M. ♦ Mohammed, Amin A. ♦ Sunar, M.
Source SpringerLink
Content type Text
Publisher Springer Berlin Heidelberg
File Format PDF
Copyright Year ©2016
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations
Subject Keyword Robot control ♦ PID ♦ Differential evolution ♦ Feedback linearization ♦ Engineering ♦ Science, Humanities and Social Sciences, multidisciplinary
Abstract The manipulator control is an important problem in robotics. To work out this problem, a correct dynamic model for the robot manipulator must be in hand. Hence, this work first presents the dynamic model of an existing 4-DOF robot manipulator based on the Euler–Lagrange principle, utilizing the body Jacobian of each link and the generalized inertia matrix. Furthermore, essential properties of the dynamic model are analyzed for the purpose of control. Then, a PID controller is designed to control the position of the robot by decoupling the dynamic model. To achieve a good performance, the differential evolution algorithm is used for the selection of parameters of the PID controller. Feedback linearization scheme is also utilized for the position and trajectory tracking control of the manipulator. The obtained results reveal that the PID control coupled with the differential evolution algorithm and the feedback linearization control enhance the performance of the robotic manipulator. It is also found out that increasing masses of manipulator links do not affect the performance of the PID position control, but higher control torques are required in these cases.
ISSN 2193567X
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2016-10-28
Publisher Place Berlin, Heidelberg
e-ISSN 21914281
Journal Arabian Journal for Science and Engineering
Volume Number 42
Issue Number 5
Page Count 12
Starting Page 1841
Ending Page 1852


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Source: SpringerLink