OTHER
Trajectory Tracking Control of 3-PRP Parallel Robot Based on Fuzzy PI
Qiang Sun, Zhenzhong Yu, Qiang Li
- Year
- 2018
- Citations
- 3
- Access
- Open access
Abstract
Based on the characteristics of the trajectory planning of a parallel robot, the polynomial method was used to carry out the trajectory planning. Then, in view of the unstable factors in the control system of a parallel robot, a novel fuzzy PI controller was designed. Finally, the trajectory tracking performance of the 3-PRP robot's joints were simulated with conventional PI and fuzzy PI controllers, respectively. The simulation results showed that the fuzzy PI controller could effectively enhance trajectory tracking precision.
Keywords
TrajectoryTracking (education)Control theory (sociology)Fuzzy logicComputer sciencePID controllerControl (management)Fuzzy control systemRobotArtificial intelligence
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