Parallel Robotics Control Strategy Study Based on Fuzzy-PID

摘要

Compared with the serial robot, the parallel robot has the stiffness, load capacity, high precision, compact structure, and can be widely used in industrial, aviation, military and other fields. Control system of the parallel robot based on the limb model is established. The PID control algorithm and the fuzzy control algorithm are compared, the Fuzzy-PID control strategy is determined, the control algorithm confirmation procedure using VC++ is designed, and then a simulative experiment is made on the Matlab/Simulink. The results show that the Fuzzy-PID control algorithm achieves high precision real-time control on this parallel robot.