Parallel robot intelligent control system based on neuroendocrine method

摘要

For studying a high-speed and high precision adaptive control system of the 2-DOF parallel robot with redundant drives,the kine-matics model was firstly investigated,then based on the principles of neuroendocrine thyroid hormone adjustment,a neuroendocrine intelli-gence controller system was designed with long feedback and ultra-short feedback.Simulation analysis results show that the kinematics model is applied easily and each joint movement of the robot is stable,continuous and smooth.The simulation results also reveal the quick response,stability,robustness,self-adaptability and strong anti-interference ability of the neuroendocrine intelligent control algorithm relative to the conventional PID control algorithm.The proposed control method will be a new way for robot control.