Fuzzy Control of Parallel Robot Based on Step Motor Drive

Abstract:

Step motor features small in the volume, big in the torque and wide in the range of speed. Parallel robot possesses the characteristics of large rigidity, strong load bearing capacity and small error. Directed against the parallel robot mechanism with step motor drive, the closed-formed solutions were developed for both inverse and direct kinematics, a model of control system was establish, after that a kind of fuzzy control algorithm was designed, and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm achieved high precision real-time control on this parallel robot.

• Periodical: Advanced Materials Research (Volume 933)
• Pages: 375-378
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.933.375
• Online since: May 2014
• Authors: Cai Hong Zhu*, Hong Tao Zhang
• Keywords: Direct Kinematics, Fuzzy Control, Inverse Kinematics, Parallel Robot, Step Motor

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