Neuroendoerine-based intelligent control of a 6-DOF parallel robot with redundant drivers

摘要

A new structure of an 8-input 6-DOF (degree-of-freedom) parallel robot is introduced, and its inverse kinematics is built up. Based on the hormone modulation of neuroendocrine system, we present an intelligent controller to be suitable for the characteristics of the 8-input 6-DOF parallel robot with redundant drivers. We choose intelligent PID controller as the basic controller, the parameter of PID is adjusted real-time by the principle of regulating cortin and the characteristic of parallel manipulator. Since it is difficult to build the exactly dynamics model of the parallel robot, we make use of the SimMechanics in MATLAB to build the machine system model and then control it with the proposed intelligent controller. The simulation result shows that the controller can control the movement of the robot effectively. They can restrain the bad influence of the parameter and load change of parallel manipulator.