Analysing Various Control Technics for Manipulator Robotic System (Robogymnast)

The Robogymnast is a highly complex, three-link system basedon the triple-inverted pendulum and is modelled on the human example ofa gymnast suspended by their hands from the high bar and executing largerand larger upswings to eventually rotate fully. The links of the Robogymnastcorrespond respectively to the arms, trunk, and lower limbs of the gymnast,and from its three joints, one is under passive operation, while the remainingtwo are powered. The passive top joint poses severe challenges in attainingthe smooth movement control needed to operate the Robogymnast effectively.This study assesses four types of controllers used for systems operation andidentifies how far response stabilisation is achieved with each. The system issimulated using MATLAB Simulink, with findings generated regarding risingand 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 andlinear quadratic regulator- proportional-integral-derivative controller for thistype of system and comparisons between the different controllers to demonstrate successful performance, which highlights the claimed advantages of theproposed system.