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