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首页> 外文期刊>Applied Mathematical Modelling >Intelligent active force control of a 3-RRR parallel manipulator incorporating fuzzy resolved acceleration control
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Intelligent active force control of a 3-RRR parallel manipulator incorporating fuzzy resolved acceleration control

机译：具有模糊解析加速控制的3-RRR并联机械手的智能主动力控制

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摘要

This paper introduces a novel intelligent control scheme for robust and precise positioning and orientation of a class of highly non-linear 3-RRR (revolute-revolute-revolute) planar parallel manipulator. The primary objective is to force the manipulator to track accurately a prescribed Cartesian trajectory when the system is subjected to different types of disturbances in the forms of forced harmonic excitations. A two level fuzzy tuning resolved acceleration control (FLRAC) is first designed and implemented to the system to demonstrate the stable response of the manipulator in performing trajectory tracking tasks in the absence of the disturbances. In this scheme, the first level of fuzzy tuning is used to acquire the proportional-derivative (PD) gains linearly while the second level considers non-linear tuning for determining the other parameters of the fuzzy controller to increase its performance. Then, the controller is added in series with an active force controller (AFC) to create a novel two degree-of-freedom (DOF) controller known as FLRAC-AFC which is subsequently and rigorously tested for system robustness and accuracy in tracking the prescribed trajectory. The simulation study provides further insight into the potentials of the proposed robotic system in rejecting the disturbances for the given operating conditions. The results clearly show that the FLRAC-AFC scheme provides a much superior trajectory tracking capability compared to the conventional linear RAC alone.
机译：本文介绍了一种新颖的智能控制方案，用于一类高度非线性的3-RRR（revolute-revolute-revolute）平面并联机械手的鲁棒且精确的定位和定向。主要目的是在系统受到强制谐波激励形式的不同类型的干扰时，迫使操纵器准确地跟踪规定的笛卡尔轨迹。首先设计了两级模糊调整解析加速控制（FLRAC），并将其实施到系统中，以演示机械手在没有干扰的情况下执行轨迹跟踪任务时的稳定响应。在该方案中，第一级模糊调整用于线性获取比例微分（PD）增益，而第二级考虑非线性调整，以确定模糊控制器的其他参数以提高其性能。然后，将该控制器与主动力控制器（AFC）串联添加，以创建一种称为FLRAC-AFC的新颖的两自由度（DOF）控制器，随后对其进行严格的系统鲁棒性和准确性测试，以跟踪规定弹道。通过仿真研究，可以进一步了解拟议的机器人系统在给定操作条件下抑制干扰的潜力。结果清楚地表明，与单独的常规线性RAC相比，FLRAC-AFC方案提供了非常优越的轨迹跟踪能力。

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  • 来源
    《Applied Mathematical Modelling》 |2012年第6期|p.2370-2383|共14页
  • 作者

    Amin Noshadi; Musa Mailah; AH Zolfagharian;

  • 作者单位

    Department of System Dynamics and Control, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (HTM), 81310 UTM Johor Bahru, Johor, Malaysia;

    Department of System Dynamics and Control, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (HTM), 81310 UTM Johor Bahru, Johor, Malaysia;

    Department of System Dynamics and Control, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (HTM), 81310 UTM Johor Bahru, Johor, Malaysia;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    robust motion control; resolved acceleration control; fuzzy tuning; active force control; 3-RRR planar parallel manipulator;

    机译：鲁棒运动控制;分解加速度控制;模糊调整;主动力控制;3-RRR平面并联机械手;

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