Trajectory Tracking Control of 3-PRP Parallel Robot Based on Fuzzy PI

摘要

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.