Modeling and control of a three dimensional gantry robot

Due to oscillations, gantry robot maneuvers are performed slowly contributing to low site efficiency and high transportation costs. These undesirable oscillations can be minimized at reasonably high travel speeds by designing effective controllers. In this paper sliding mode and fuzzy scheduled linear controllers are designed based on a linearized model of a three dimensional gantry robot. The controllers are designed to minimize the load swing oscillations in the presence of modeling errors. The designed controllers are then used with the nonlinear model to show their effectiveness in damping the load angle oscillations