Motion control of 3-DoF delta robot using adaptive neuro fuzzy inference system

摘要

Delta robot are widely used to achieve positioning tasks with high speed and accuracy, which require a control model to move the platform of delta robot along a specific coordinate. This paper presents a control system based on fuzzy controller to achieve the motion control and applies this system on the model of delta robot, which is capable of carrying out the motion with three translational degrees of freedom. The proposed control system evaluates the applied angular position on the motor's joint depended on the output of inverse kinematics and ANFIS then move the end effector in the translation coordinates (X, Y and Z). Results from both inverse kinematics equations and from the delta robot after applied proposed control system show that there is a difference in the translation coordinates by around 5 cm in X direction, 2 cm in Y direction and 1 cm in Z direction. This difference is due to the effect of the friction in the joint of the delta robot, which is negligible in the inverse kinematics analysis. Finally, the validation of proposed control system for a delta robot is verified with minimum errors.