Analysing various control technics for manipulator robotic system (Robogymnast)

Mohamed, Mahmoud ORCID: https://orcid.org/0000-0001-9386-7495, Abdul Samad, Bdereddin ORCID: https://orcid.org/0000-0002-9140-5024, Anayi, Fatih ORCID: https://orcid.org/0000-0001-8408-7673, Packianather, Michael ORCID: https://orcid.org/0000-0002-9436-8206 and Yahya, Khalid 2023. Analysing various control technics for manipulator robotic system (Robogymnast). Computers, Materials & Continua 75 (3) , pp. 4681-4696. 10.32604/cmc.2023.035312

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Abstract

The Robogymnast is a highly complex, three-link system based on the triple-inverted pendulum and is modelled on the human example of a gymnast suspended by their hands from the high bar and executing larger and larger upswings to eventually rotate fully. The links of the Robogymnast correspond respectively to the arms, trunk, and lower limbs of the gymnast, and from its three joints, one is under passive operation, while the remaining two are powered. The passive top joint poses severe challenges in attaining the smooth movement control needed to operate the Robogymnast effectively. This study assesses four types of controllers used for systems operation and identifies how far response stabilisation is achieved with each. The system is simulated using MATLAB Simulink, with findings generated regarding rising and settling time, as well as overshoot. The research primarily seeks to examine the application of a linear quadratic regulator controller, proportionalintegral-derivative controller, fuzzy linear quadratic regulator controller and linear quadratic regulator- proportional-integral-derivative controller for this type of system and comparisons between the different controllers to demonstrate successful performance, which highlights the claimed advantages of the proposed system.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	Tech Science Press
ISSN:	1546-2226
Date of First Compliant Deposit:	11 May 2023
Date of Acceptance:	4 November 2022
Last Modified:	12 May 2023 13:37
URI:	https://orca.cardiff.ac.uk/id/eprint/159348

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