A 3-PRS Parallel Robot Control Based on Fuzzy-PID Controller

被引：6

作者：

Tavoosi, Jafar ^{[1
]}

Mohammadi, Fazel ^{[2
]}

机构：

[1] Ilam Univ, Dept Elect Engn, Ilam, Iran

[2] Univ Windsor, Elect & Comp Engn ECE Dept, Windsor, ON N9B 1K3, Canada

来源：

2019 6TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION AND AUTOMATION (ICCIA) | 2019年

关键词：

3-PRS Parallel Robot; Fuzzy-PID Controller; Type-II Fuzzy System;

D O I：

10.1109/iccia49288.2019.9030860

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new Type-II Fuzzy-PID based approach is proposed to control a 3-PRS parallel robot. 3-PRS parallel robots are very common in industrial applications due to their high precision. In addition, according to the unique kinematic characteristics of these kinds of robots, they are capable of avoiding the singularity at the zenith angle during the tracking. The two inputs of the Fuzzy System (FS) are the error and its changes. The proposed controller applies the best control signal to the robot system by determining the PID coefficients. The simulation results confirm that a PID controller tuned by the Type-II Fuzzy system is an effective method to control these kinds of robots. The performance comparison of the Type-I and Type-II Fuzzy systems indicates the superiority of the Type-II Fuzzy system.

引用

页码：97 / 100

页数：4

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