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IJERT-EMS

Control Technique for Parallel Manipulator using PID


Control Technique for Parallel Manipulator using PID
Authors : Anoop R Nair, Achu Govind K R
Publication Date: 04-07-2016

Authors

Author(s):  Anoop R Nair, Achu Govind K R

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Volume. 5 - Issue. 07 , July - 2016

e-ISSN:   2278-0181

 DOI:  http://dx.doi.org/10.17577/IJERTV5IS070064

Abstract

Parallel manipulators are quite efficient when compared with serial manipulators since it can be used in high speed applications. But control of parallel manipulator is quite difficult. In this paper, a adaptive PID control of parallel manipulator is done and its performance is verified. The control of parallel manipulator using PID proved to be quite efficient when compared with other existing control technique. With PID control the parallel manipulator is able to trace along the desired trajectory without any deviation. Here the manipulator was independent of the operational change and also is able consider the system dynamics .Also this method has a advantage of having low error rate .Here delta parallel manipulator is used to control scheme efficiency. Delta parallel manipulator is realized based on sim mechanics model.

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