Design and Simulation of Mobile Pick and Place Robot Manipulator (MPPRM)
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Date
2020-02
Authors
Kalkidan, Yirmed
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Publisher
Addis Ababa University
Abstract
Self-balanced two-wheeled mobile robot manipulators (TWMRMs), which is based on an inverted pendulum system, is dynamically (for handling a payload) and statically unstable. While different configurations of self-balanced two-wheeled mobile robot manipulators (TWMRMs) exist, the workspace of these systems is restricted by their current configurations and designs. This study presents the performance of using a fuzzy-PID control algorithm as part of a PID control scheme for the control of 5 DOFs self-balanced TWMPPRM that could be useful for industrial applications such as pick and place and materials handling hazardous products in the chemical manufacturing industry. The system under investigation offers solutions for industrial robotic applications requiring a limited working space. The non-linear mathematical model system derived from Lagrangian modeling approach is simulated in the MATLAB / SIMULINK framework. Fuzzy-PID control of a decoupled nature is designed and implemented. Various operating scenarios with several initial conditions are used to test the robustness and performance of the system. Using integral absolute error (IAE) strategy for payload free movement, it is observable that the system takes around 2.2870 seconds to settle by implementing the PID control strategy, which is greater than the settling time (0.7800 seconds) of the Fuzzy-PID control, and for peak time and rise time it takes 0.5710s and 0.2790s respectively for PID. Furthermore, for peak time and rise time it takes 0.4400s and 0.2300s respectively using Fuzzy-PID control strategy. The simulation results showed the effectiveness of the Fuzzy-PID control approach in improving system performance compared to the PID control system.
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Keywords
PID controller, Fuzzy logic, Fuzzy-PID controller, TWMPPRM