Fuzzy logic based adjustment control of a cable-driven auto-leveling parallel robot

摘要

To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, a cable-driven auto-leveling parallel robot is developed. A hierarchical fuzzy controller, which has the ability to deal with the rule explosion problem, is proposed in this paper. After a brief introduction of the architecture of the closed-loop control system for the cable-driven auto-leveling parallel robot, the construction of the hierarchical fuzzy controller is set up, in which the force offsets of the four cables and the angle deviations of the two diagonal inclinations are chosen as input variables, and the output variables are the position changes of the four linear motion units. The hierarchical fuzzy controller contains two layers - the low level layer which generates two outputs for leveling adjustment and force tuning, and the high level layer which is used to coordinate the two outputs from the low level layer. Experimental results have demonstrated that the hierarchical fuzzy controller can achieve the control objectives with high regulation accuracy and short adjusting time, and can be easily applied to practical systems.