Fuzzy Control of Parallel Robot Based on Step Motor Drive

被引：0
|
作者：
Zhu, Caihong [1 ]
Zhang, Hongtao [1 ]
机构：
[1] Suzhou Vocat Univ, Dept Elect Engn, Suzhou, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 4TH INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS | 2011年
关键词：
Parallel robot; Fuzzy control; Step motor; Workspace analysis; Inverse and direct kinematics;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：280 / 284
页数：5
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