A Neuroendocrine-based Intelligent Controller of Parallel Robot

摘要

parallel robot has a complex structure and high requirement in control precision.In this paper,the kinematics of a novel 6-PSS parallel manipulator is firstly analyzed.Then according to the bormone modulation and two feedback modulation models of neuroendocrine system,a new intelligent controller with its modulation rules is designed.The controller has the same structure with neuroendocrine system and its strategy follows hormone modulation hill function.The simulation result shows that the controller is better than PID controller.The proposed control method may be a new way for robot control.