Abstract
3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed using an open-loop spatial robotic platform. The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints. The main variables in our design are the platform base positions, the geometry of the joint angles, and links of the 3-RRR planar parallel robot. These variables are calculated based on Cayley-Menger determinants and bilateration to determine the final position of the platform when moving and placing objects. Additionally, a proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot. The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller. Furthermore, real-time implementation has been tested to prove that the design performance is practical.
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Auday Al-Mayyahi received the B. Sc. and M. Sc. degrees in electrical engineering from University of Basrah, Iraq in 2003 and 2007, respectively. He received the Ph. D. degree in industrial automation from University of Sussex, UK in 2018. Currently, he is a lecturer at University of Basrah in which he has taught different topics within the area of electrical engineering. Additionally, he is currently the director of Avicenna E-learning Center at University of Basrah.
His research interests include robotics, automation and intelligent control systems.
Ammar A. Aldair received the B. Sc. degree in electrical engineering from University of Basrah, Iraq in 2000. He received the M. Sc. degree in control and systems engineering from University of Basrah, Iraq in 2003. He received the Ph. D. degree in control and systems engineering from University of Sussex, UK in 2012.
From 2003–2008, he was a lecturer in Electrical Department, University of Basrah, Iraq. He teaches many subjects such as mathematics, logic systems, electrical circuits, electronic circuits, control systems and advance control systems. He is currently an assistance professor at University of Basrah. His research interest is design of intelligent control systems.
Chris Chatwin holds the Chair of Engineering, University of Sussex, UK. He is Research Director of the IIMS Research Centre and the Laser and Photonics Systems Engineering Group. He has been a member of the University: Senate, Council and Court At Sussex. He has published two research monographs: one on numerical methods, the other on hybrid optical/digital computing, and more than seven hundred international papers. He is on the editorial board of the International Journal Lasers in Engineering. He is also a member of The Institution of Electrical and Electronic Engineers, IEEE Computer Society, the British Computer Society, the Association of Industrial Laser Users, European Optical Society. He is a Chartered Engineer, EuroEngineer, International Professional Engineer, Chartered Physicist, Chartered Scientist and a Fellow of The Institution of Electrical Engineers, The Institution of Mechanical Engineers, The Institute of Physics and The Royal Society for Arts, Manufacture and Commerce.
His research interests include robotics, computer vision, recognition and tracking, surveillance and security systems.
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Al-Mayyahi, A., Aldair, A.A. & Chatwin, C. Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller. Int. J. Autom. Comput. 17, 822–836 (2020). https://doi.org/10.1007/s11633-020-1249-9
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DOI: https://doi.org/10.1007/s11633-020-1249-9