3-Degree-of-Freedom Parallel Robot Control Based Fuzzy Theory

摘要

Based on fuzzy control theory, a new method for 3- Degree-of-freedom (DOF) parallel robot control is presented in this paper. Take example for DELTA robot; input the established physical model in Pro/E into simulation software ADAMS to establish its mechanical system model by seamless interface software MECH/Pro, where DELTA robot can do kinematics and dynamics simulation. Build the fuzzy controller and control system model by the use of MATLAB software. Realize co-simulation in accordance with a given target trajectory by the use of ADAMS/MATLAB software. The results analysis shows that this control method has solved coordinate control for the 3-DOF parallel robot so that each output is fed back to the three drive rod, effectively improving the control precision, tracing trajectory in real time and providing a method of control for multi-DOF parallel robot.