1st International Conference on Modelling and Simulation on Engineering, Science and Technology (ICOMSEST) - Kuala Lumpur - Malaysia (2019-02-24)

Comparative Study between PD Controller in Cartesian and Joint spaces for Parallel Manipulator
This paper focus on the comparison between joint and Cartesian PD controllers for R4 parallel robot. Two scenarios have been presented according to the desired trajectories of controlled robot; one scenario is based on Pick and Place trajectory and the other is based on spiral trajectory. The tracking performance is compared between Cartesian PD and joint PD controllers. The track performance evaluation is measured in terms of root mean square(RMS) value of Cartesian errors. The performance comparison study of suggested controllers in different conditions is verified using computer simulation with in Matlab/Simulink environment.
Dr. amjad humaidi, Ms. hanan Hussein