Dynamic modeling and robust motion control of a 2D compliant pantograph for micromanipulation

This paper investigates the dynamic modeling and robust motion controller for a compliant pantograph manipulator with/without guiding mechanism. The pseudo-rigid-body model is used to allow flexible elements to be modeled as rigid body mechanism. Afterward Euler-Lagrange formulation method is used to get the dynamic model of the compliant mechanism. The proposed controller consists of two loops, internal and external loops. The robust internal loop compensator strategy guarantees a robust stability and performance in the presence of uncertainty and external disturbances. On the other hand, the external loop is designed to meet the performance criterion. Simulation results are based on Co-simulation between MS-ADAMS 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. A disturbance input force is applied to the control input to test the robustness of the controller. The whole results show the efficiency of the proposed controller in tracking desired trajectory accurately to be used in micromanipulation.