Simulation and experimental control of a 3-RPR parallel robot using optimal fuzzy controller and fast on/off solenoid valves based on the PWM wave |
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Affiliation: | 1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China |
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Abstract: | In this paper, a robust optimal fuzzy controller based on the Pulse Width Modulation (PWM) technique is proposed to control a laboratory parallel robot using inexpensive on/off solenoid valves. The controller coefficients are determined using Modified Cuckoo Optimization Algorithm. The objective function of this method is considered such that the results show the position tracking by the robot with less force and more efficiency. Regarding the results of experimental tests, the control strategy with on/off valves indicates good performance such that the maximum value of RMS of error for a circular path with increasing force on the system is 3.1mm. Furthermore, the results show the superiority of the optimal fuzzy controller compared with optimal PID controller in tracking paths with different conditions and uncertainties. |
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Keywords: | 3-RPR planar parallel robot On/off solenoid valves PWM wave Optimal fuzzy controller Modified Cuckoo Optimization Algorithm |
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