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

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 fix...

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Bibliographic Details
Published inRobotică şi management (Reșița) Vol. 28; no. 2; pp. 38 - 43
Main Authors Pham, Huy-Hoang, Doan, Duc-Huy, Vo, Hoang-Nguyen, Dang, Van-Tuong, Nguyen, Hoang-Quoc-Bao, Le, Trieu-Vy, Truong, Thi-Thuy-Quynh, Tran, Tien-Dat
Format Journal Article
LanguageEnglish
Published Editura Eftimie Murgu 01.12.2023
Subjects
3-rrs parallel manipulator
ball and plate
lqr control
pd control
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Summary: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.
ISSN:1453-2069
2359-9855
DOI:10.24193/rm.2023.2.7