Universiti Teknologi Malaysia Institutional Repository

Active force control of 3-RRR planar parallel manipulator

Mailah, Musa and A., Noshadi and A., Zolfagharian (2010) Active force control of 3-RRR planar parallel manipulator. In: ICMET 2010 - 2010 International Conference on Mechanical and Electrical Technology, Proceedings, 2010, Singapore.

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Official URL: http://dx.doi.org/10.1109/ICMET.2010.5598495


This paper presents a new and novel method to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator using an active force control (AFC) strategy. A traditional proportional-integral-derivative (PID) controller was first designed and developed to demonstrate the basic and stable response of the manipulator in performing trajectory tracking tasks. Later, the AFC section was incorporated into the control scheme in cascade form by adding it in series with the PID controller (PID+AFC), its primary aim of which is to improve the overall system dynamic performance particularly when the manipulator is subjected to different loading conditions. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme in rejecting the disturbances compared to the traditional PID controller.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:3-RRR parallel manipulator, active force control, trajectory tracking
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:27120
Deposited By: Mrs Liza Porijo
Deposited On:27 Jul 2012 07:24
Last Modified:05 Feb 2017 08:23

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