文章基本信息

标题：Trajectory Tracking Control of 3-PRP Parallel Robot Based on Fuzzy PI
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作者：Qiang Sun ; Zhen-Zhong Yu ; Qiang Li 等
期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2018
卷号：15
期号：1
出版社：IJCSI Press
摘要：Based on the characteristics of the trajectory planning of a parallel robot, the polynomial method was used to carry out the trajectory planning. Then, in view of the unstable factors in the control system of a parallel robot, a novel fuzzy PI controller was designed. Finally, the trajectory tracking performance of the 3-PRP robots joints were simulated with conventional PI and fuzzy PI controllers, respectively. The simulation results showed that the fuzzy PI controller could effectively enhance trajectory tracking precision.
关键词：3;PRP parallel robot; Trajectory planning; Fuzzy PI; Trajectory tracking control.