Practical Velocity Tracking Control of a Parallel Robot Based on Fuzzy Adaptive Algorithm
Joint Authors
Ai, Qing Song
Meng, Wei
Zhou, Zude
Liu, Quan
Wu, Xiang
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-21
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Due to the advantages of its compact structure and high operation accuracy, the six degrees of freedom (6-DOF) parallel platform has been widely used as a carrier of medical rehabilitation devices.
Fuzzy adaptive algorithm does not depend on the mathematical model of controlled object, which possesses good nonlinear characteristics.
Those entire features make it an effective method to control such complex and coupling platforms.
To facilitate the application of robotics in lower limb rehabilitation fields, a robotic system in practical environment was established based on kinematics modeling of the 6-DOF Stewart-based platform.
In order to improve the velocity tracking accuracy, this paper proposed a closed-loop control strategy based on fuzzy adaptive algorithm.
The velocity feedback information was utilized to modify the PID parameters adaptively in realtime through fuzzy inference units.
Several experiments in practical environment were conducted, and the results demonstrated that the proposed algorithm could effectively reduce the speed jitter, enhance the position and velocity tracking precision of the robot, and the reliability and robustness of the system could also be ensured.
American Psychological Association (APA)
Zhou, Zude& Meng, Wei& Ai, Qing Song& Liu, Quan& Wu, Xiang. 2013. Practical Velocity Tracking Control of a Parallel Robot Based on Fuzzy Adaptive Algorithm. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-481990
Modern Language Association (MLA)
Zhou, Zude…[et al.]. Practical Velocity Tracking Control of a Parallel Robot Based on Fuzzy Adaptive Algorithm. Advances in Mechanical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-481990
American Medical Association (AMA)
Zhou, Zude& Meng, Wei& Ai, Qing Song& Liu, Quan& Wu, Xiang. Practical Velocity Tracking Control of a Parallel Robot Based on Fuzzy Adaptive Algorithm. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-481990
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-481990