Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI
| Autor: | Peng Cheng Hao, Shuhuan Wen, Shi Dong Jia, Wei Zheng, Hak-Keung Lam, Zhi Xin Ji |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry redundant actuation Parallel manipulator PID controller parallel robots Robotics 02 engineering and technology Fuzzy control system Fuzzy control Fuzzy logic Computer Science Applications Computer Science::Robotics 020901 industrial engineering & automation Control and Systems Engineering Control theory Position (vector) position/force hybrid control Artificial intelligence MATLAB business computer computer.programming_language |
| Zdroj: | Wen, S H, Zheng, W, Jia, S D, Ji, Z X, Hao, P C & Lam, H K 2020, ' Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI ', International Journal of Control, Automation and Systems, vol. 18, no. 6, pp. 1629-1641 . https://doi.org/10.1007/s12555-018-0579-7 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-018-0579-7 |
| Popis: | This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integral-differential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methods compared with the conventional PI controller. |
| Databáze: | OpenAIRE |
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