Fuzzy Control of Parallel Robot Based on Step Motor Drive
Step motor features small in the volume, big in the torque and wide in the range of speed. Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a track planning in its workspace has been carried out, and a model of control system was establish, after that a kind of fuzzy control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm achieved high precision real-time control on this parallel robot.
Caihong ZHU Hongtao ZHANG
Department of Electronic Engineering, Suzhou Vocational University, Jiangsu, China
国际会议
The 4th International Conference on Mechanical Engineering and Mechanics(第四届国际机械工程与力学会议)
苏州
英文
280-284
2011-08-11（万方平台首次上网日期，不代表论文的发表时间）