Modeling and Simulation of 3-RRRT Parallel Manipulator Based on MALTAB with SimMechanics

Author

Hanchen, Li ; Xinhua, Zhao ; Haoliang, Xun

Author_Institution

Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China

Volume

3

fYear

2009

fDate

15-17 May 2009

Firstpage

290

Lastpage

293

Abstract

Based on the SimMechanics Toolbox of MATLAB, this paper introduces a method of simulation in researching 3-RRRT parallel manipulator. Through deeply studying fuzzy control theory, for overcoming the shortcomings and inadequacies of the PID control algorithm, a fuzzy adaptive supervisory algorithm is presented in this paper. The paper discusses how to use it to optimize the conventional PID controller, and to achieve more excellent control results. Firstly, a 3-RRRT parallel manipulator model is established by the SimMechanics in Matlab. Secondly, the manipulator´s fuzzy adaptive supervisory controller is built for the model. A simulation experiment is conducted to test the effect of the trajectory tracking through Matlab/SimMechanics. The simulation results demonstrate that the 3-RRRT parallel manipulator realizes the trajectory tracking with very good robustness to the parameter auto-adapted.

Keywords

control engineering computing; fuzzy control; manipulator dynamics; mathematics computing; three-term control; 3-RRRT parallel manipulator; MATLAB; PID control algorithm; SimMechanics Toolbox; fuzzy adaptive supervisory algorithm; fuzzy control theory; trajectory tracking; Adaptive control; Analytical models; Fuzzy control; Kinematics; Manipulators; Mathematical model; Power system modeling; Predictive models; Programmable control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Technology and Applications, 2009. IFITA '09. International Forum on

Conference_Location

Chengdu

Print_ISBN

978-0-7695-3600-2

Type

conf

DOI

10.1109/IFITA.2009.168

Filename

5232117