-The main goal of this paper is to derive the forward and inverse kinematic model of the ABB IRB 140 industrial manipulator. Denavit-Hartenberg analysis (DH) is presented to write the forward kinematic equations. Initially, a coordinate system is attached to each of the six links of the manipulator. Then, the corresponding four link parameters are determined for each link to construct the six transformation matrices ( T � ��� � that define each frame ��� relative to the previous one {i-1}. While, to develop the kinematics that calculates the required joint angles (θ � �� θ � ���both geometrical and analytical approaches are used to solve the inverse kinematic problem. After introducing the forward and inverse kinematic models, a MATLAB code is written to obtain the solutions of these models. Then, the forward kinematics is validated by examining a set of known positions of the robot arm, while the inverse kinematics is checked by comparing the results obtained in MATLAB with a simulation in Robot Studio.
This work shows the design procedure of fractional-order proportional–integral-derivative (FOPID) controllers for an antenna azimuth position system based on genetic algorithm optimization approach. FOPID controllers are considered as a special type of the classical PID controller in which the derivative and integral elements have orders of fractions between zero and one. Therefore, FOPID controllers comprise two additional variables ( μ and λ ) in comparison with the typical PID controller. The FOPID is designed to control the azimuth angle of the antenna. Genetic algorithm (GA) will be employed to find an optimal value for the five FOPID controller’s gains using different type of fitness function including mean square error (MSE), integral square error (ISE) and integral time square error (ITSE). The achieved results exhibit an excellent steady and transient state performance of system, for instant fast settling and rise times as well as low present of peak overshoot.
<span>This work shows the design and tuning procedure of a discrete PID controller for regulating buck boost converter circuits. The buck boost converter model is implemented using Simscape Matlab library without having to derive a complex mathematical model. A new tuning process of digital PID controllers based on identification data has been proposed. Simulation results are introduced to examine the potentials of the designed controller in power electronic applications and validate the capability and stability of the controller under supply and load perturbations. Despite controller linearity, the new approach has proved to be successful even with highly nonlinear systems. The proposed controller has succeeded in rejecting all the disturbances effectively and maintaining a constant output voltage from the regulator.</span>
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