Design of a new fuzzy model-based controller for complex dynamical systems with application to a 3-RRR spherical parallel manipulator

摘要

In this paper, a novel fuzzy model-based control scheme is presented for enhancing the controller performance in a complicated dynamical system of a 3-DoF spherical parallel manipulator. Firstly, the kinematics analysis and dynamics formulation of the robot are discussed briefly. Then, a fuzzy logic paradigm is utilized into a computed torque controller (CTC), which is implemented after extracting the kinematics and dynamics equations. This paradigm aims considerable decrease in settling time and damping the overshoot. Moreover, the designed controller satisfies the computational constraints for real-time implementation. A prototype has been manufactured for experimental studies in this work.