This paper deals with the controller design of a new
fully decoupled 3DOF translational manipulator with fixed
orientation of the end-effector. The proposed manipulator has
several useful characteristics over its competitive counterpart
such as Delta and Tsai in terms of workspace to size ratio,
speed, rigidity and accuracy. The decoupled feature affects
the selection of actuators size and power as well as affects
the positioning accuracy of the moving platform. PD type
of fuzzy controller is chosen to achieve a desired tracking
performance. PD controller is widely accepted in industry
due to its easiness of implementation. Fuzzy controller suits
complex and nonlinear systems and has the ability to achieve
zero steady state error. The proposed manipulator is tested for
tracking quintic polynomial and another trajectory that composed
of three sinusoidal waveform combined with different
frequencies in addition to the payload variation. Moreover,
the new manipulator is tested for pick and place application.
Simulation results are based on Co-simulation between MSADAMS
and Matlab. The nonlinear model is exported from
MS-ADAMS to capture the dynamics of the manipulator
while Matlab is used to implement the controller algorithm.
The whole results show the efficiency of PD type of fuzzy
controller in tracking desired trajectory even under payload
variation.