Modeling and high precision motion control of 3D of parallel delta robot manipulator
Other Title(s)
التمثيل الرياضي و التحكم عالي الدقة بالروبوت المتوازي (دلتا) ثلاثي الأبعاد
Dissertant
Thesis advisor
University
Islamic University
Faculty
Faculty of Engineering
Department
Electrical Engineering Department
University Country
Palestine (Gaza Strip)
Degree
Master
Degree Date
2013
English Abstract
This Master thesis describes the CAD- Modeling of the Parallel DELTA robot, designed by Autodesk Inventor® software program.
DELTA Robot is a Multi-Input Multi Output Nonlinear System (MIMO), so, PID controller and Model Predictive Controller (MPC) are implemented to improve the performance of Robot .but due to the variations in the dynamic models of each system, it is nearly impossible to conclusively determine the most appropriate controller to design.
Therefore, this thesis compares the simulation results of two controllers, namely the PID and MPC respectively; on a 3 DOF Parallel DELTA robot in order to determine which controller would yield the best control performance.
By comparing the simulation results for the joint angles error and the end effector trajectory error plots for the PID and MPC controllers, MPC controller gave the best results than PID controller.
Then, a great contribution added at the response of DELTA robot.
Because of Robot arms are highly geared; this reason let the robot to be more robust.
MPC controller held the Potential to be the most likely candidate controllers to implement on the physical structure of the 3-DOF Parallel DELTA robot.
But PID controller is easier in software implementation inside embedded systems as microcontrollers
Main Subjects
Topics
No. of Pages
84
Table of Contents
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Kinematics and dynamics.
Chapter Three : Controller design.
Chapter Four : Path planning.
Chapter Five : Simulations and results.
Chapter Six : Conclusion and future work.
References.
American Psychological Association (APA)
al-Shuqayr, Hamad Allah A. H.. (2013). Modeling and high precision motion control of 3D of parallel delta robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-530420
Modern Language Association (MLA)
al-Shuqayr, Hamad Allah A. H.. Modeling and high precision motion control of 3D of parallel delta robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University. (2013).
https://search.emarefa.net/detail/BIM-530420
American Medical Association (AMA)
al-Shuqayr, Hamad Allah A. H.. (2013). Modeling and high precision motion control of 3D of parallel delta robot manipulator. (Master's theses Theses and Dissertations Master). Islamic University, Palestine (Gaza Strip)
https://search.emarefa.net/detail/BIM-530420
Language
English
Data Type
Arab Theses
Record ID
BIM-530420