Modeling and Simulation of 3-RRRT parallel manipulator Based on MALTAB with SimMechanics

被引：0

作者：

Li Hanchen ^{[1
]}

Zhao Xinhua ^{[1
]}

Xun Haoliang ^{[1
]}

机构：

[1] Tianjin Univ Technol, Sch Mech Engn, Tianjin 300191, Peoples R China

来源：

2009 INTERNATIONAL FORUM ON INFORMATION TECHNOLOGY AND APPLICATIONS, VOL 3, PROCEEDINGS | 2009年

关键词：

Parallel manipulator; SimMechanics; adaptive supervisory controller; Simulation;

D O I：

10.1109/IFITA.2009.168

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on the SimMechanics Toolbox of MATLAB, this paper introduces a method of simulation in researching 3-RRRT parallel manipulator. Through deeply studying fuzzy control theory, for overcoming the shortcomings and inadequacies of the PID control algorithm, a fuzzy adaptive supervisory algorithm is presented in this paper. The paper discusses how to use it to optimize the conventional PID controller, and to achieve more excellent control results. Firstly, a 3-RRRT parallel manipulator model is established by the SimMechanics in Matlab. Secondly, the manipulator's fuzzy adaptive supervisory controller is built for the model. A simulation experiment is conducted to test the effect of the trajectory tracking through Matlab/SimMechanics. The simulation results demonstrate that the 3-RRRT parallel manipulator realizes the trajectory tracking with very good robustness to the parameter auto-adapted.

引用

页码：290 / 293

页数：4

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