Abstract
Pantograph mechanism has been used for a long time in 2-D engraving and drawing machines. Controlling the end-effector trajectory requires a control system that can reject the disturbances affecting the end tool. In this paper, we present a case study about modeling and controlling a pantograph mechanism that is facing significant forces due to the interaction with the environment. The mathematical model is first obtained and verified by comparing its response with the response from another numerical MATLAB/Simscape Model. Afterward, an autotuned PID controller was used to control the pantograph's angles when it is interacting with the environment. The results showed successful tracking for the reference signal. The analysis is depending on the essential equations of controlling the end-effector. Hence other equations are giving the independent angles of the links directly. These angles will be useful in real-time control of the end-effector mechanism’s position, which is required in modern industrial robots. The controlled velocity is obtained to reduce the Jacobian matrix of the angular velocities of the driving links. These angular velocities can be converted into individual speeds of the servos, which act as the real-time input.
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Saeed, Z., Gabra, B., Sallam, M., Refeay, W., Sharaf, S. (2021). Modeling and Control of a Pantograph Mechanism Interacting with the Environment. In: Hassanien, AE., Chang, KC., Mincong, T. (eds) Advanced Machine Learning Technologies and Applications. AMLTA 2021. Advances in Intelligent Systems and Computing, vol 1339. Springer, Cham. https://doi.org/10.1007/978-3-030-69717-4_67
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