3-Degree-of-freedom parallel robot control based fuzzy theory
Based on fuzzy control theory, a new method for 3Degree-of-freedom (DOF) parallel robot control is presented in this paper. Take example for DELTA robot; input the established physical model in Pro/E into simulation software ADAMS to establish its mechanical system model by seamless interface software MECH/Pro, where DELTA robot can do kinematics and dynamics simulation. Build the fuzzy controller and control system model by the use of MATLAB software. Realize co-simulation in accordance with a given target trajectory by the use of ADAMS/MATLAB software. The results analysis shows that this control method has solved coordinate control for the 3-DOF parallel robot so that each output is fed back to the three drive rod, effectively improving the control precision, tracing trajectory in real time and providing a method of control for multi-DOF parallel robot.
fuzzy control 3-DOF parallel robot ADMAS software MATLAB software
Jingjun Zhang Chaoyang Lian Ruizhen Gao Lihong Shi
Scientific Research Office Hebei University of Engineering Handan,Hebei,P.R.China Mechanical design and theory Hebei University of Engineering Handan,Hebei Province.China
国际会议
南京
英文
221-224
2010-08-26（万方平台首次上网日期，不代表论文的发表时间）