One Degree of Freedom Manipulator Modelling and Control

International Journal of Mechanical Engineering

© 2015 by SSRG - IJME Journal

Volume 2 Issue 6

Year of Publication : 2015

Authors : Ayman A. Aly

10.14445/23488360/IJME-V2I6P101

How to Cite?

Ayman A. Aly, "One Degree of Freedom Manipulator Modelling and Control," SSRG International Journal of Mechanical Engineering, vol. 2,  no. 6, pp. 1-5, 2015. Crossref, https://doi.org/10.14445/23488360/IJME-V2I6P101

Abstract:

This paper presents a traditional PID control applied to a robotic manipulator arm with one DOF. Using MATLAB, the motion control simulation of this system was implemented in preparation for actual experiments. The results of the simulation demonstrated that the response time of the system was in a reasonable range, the motion behaviour of the platform was stable and acceptable. Furthermore, the parameters of the controllers were optimized using MATLAB and better results for the time response were obtained.  Finally, the experimental results demonstrate that the proposed controller can work probably in limited range of system parameters change.

Keywords:

PID control, Dynamic model, Robotic, manipulator arm.

References:

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[2] Ayman A. Aly “Modelling and control of an electro-hydraulic servo motor Applying velocity feedback control strategy”, International Mechanical Engineering Conference & Expo (IMEC2004), Kuwait.
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[4] Khalil A. Khalil, Ayman A. Aly and A. Abo-Ismail, “Tip Position Control of A Single Flexible Arm”, International Conference on Mechatronics (ICOM05), Malaysia.
[5] Ayman A. Aly, “A Non Linear Optimal PID Control of A Hydraulic Crane” Journal of Engineering Science, JES, Vol. 33, No. 1,  pp 199-209, Feb. 2007.
[6] Ayman A. Aly and S. Elnaggar, “Genetic PD Control of a Three-Link Rigid Spatial Manipulator,” International Journal on Automatic Control System Engineering, ICGST-ACSE Journal, Vol. 11, No.1, pp 15-22, June 2011, Germany.
[7] Ayman A. Aly, Aly S. Abo El-Lail, Kamel A. Shoush, Farhan A. Salem,” Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator,” I. J. Intelligent Systems and Applications (IJISA),7,43-49,2012.
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[11] Ayman A. Aly, Farhan A. Salem, "Design of Intelligent Position Control for Single Axis Robot Arm", International Journal of Scientific & Engineering Research, Volume 5, Issue 6, pp 790-795, 2014.
[12] Farhan A. Salem, Ayman A. Aly, "PD Controller Structures: Comparison and Selection for an Electromechanical System", PP.1-12, Vol. 7, No. 2, I. J. Intelligent Systems and Applications (IJISA) January 2015.
[13] Farhan A. Salem, Ayman A. Aly, Mosleh Al-Harthi and Nadjim Merabtine, "New Control Design Method for First Order and Approximated First Order Systems", International Journal of Control, Automation and Systems (IJCAS) V4 (2), PP 7-17, 2015.