Ball Balancing on 3-RRS Parallel Manipulator Using PD and LQR Control

Autor:	Huy-Hoang Pham, Duc-Huy Doan, Hoang-Nguyen Vo, Van-Tuong Dang, Hoang-Quoc-Bao Nguyen, Trieu-Vy Le, Thi-Thuy-Quynh Truong, Tien-Dat Tran
Jazyk:	angličtina
Rok vydání:	2023
Předmět:	3-rrs parallel manipulator ball and plate lqr control pd control Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Management information systems T58.6-58.62
Zdroj:	Robotica & Management, Vol 28, Iss 2, Pp 38-43 (2023)
Druh dokumentu:	article
ISSN:	1453-2069 2359-9855
Popis:	Ball and plate system (BPS) is known as a nonlinear multi-input multi-output (MIMO) system that has been usually used to investigate and develop control algorithms. In this paper the study deals with a 3-RRS parallel manipulator which has a metal ball, three DC motors with linkage mechanism to a fixed base that can be a resistive touch screen . The moving base has two rotational movements, it can be rotated around the x-axis and y-axis and translated along the z-axis. The main purpose of this study is obtaining dynamics equations of motions and designing PD and LQR controllers. Through simulation and experiment, both control algorithms are proved to work well on this model.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/489e7b9c84884d57a3dba6c3887b8982 Zobrazit plný text záznamu View record in DOAJ