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Manar Lashin,Mohamed Fanni,Abdelfatah M. Mohamed,Tomoyuki Miyashita 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulatorpossesses pure decoupled translational motions and it is characterized by large workspace to size ratio,high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However,the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplifiednominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of thenominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Consideringthese dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, anew controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which isdesigned in H∞ framework. The new controller has the following merits; robustness, optimality, simple implementation,and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance inthe proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of errorcontrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is comparedwith those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation resultsvia co-simulation of MSC-ADAMS R ⃝ and MATLAB R ⃝ /Simulink software prove the robustness of the proposedcontroller against speed/payload variations. The proposed controller is found to have higher performance comparedwith IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with theproposed controller for pure translational tracking applications.