Model-free intelligent control of a 6-DOF Stewart-Gough based parallel manipulator

Author

Mann, George K I ; Surgenor, Brian W.

Author_Institution

Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John´´s, Nfld., Canada

Volume

1

fYear

2002

fDate

2002

Firstpage

495

Abstract

This paper illustrates an application of intelligent control to a 6-DOF Stewart-Gough based parallel manipulator. Under model free conditions, a three dimensional fuzzy PID controller is designed. The control is performed without using the forward kinematics of the manipulator. The performance of the fuzzy PID controller is compared against a linear PID controller. The fuzzy PID controller is shown to have better performance in tracking and higher robustness in load rejection than the linear PID controller.

Keywords

control system synthesis; fuzzy control; intelligent control; manipulator kinematics; nonlinear control systems; three-term control; 6-DOF Stewart-Gough based parallel manipulator; end-effector tracking; linear PID controller; load rejection robustness; manipulator kinematics; model free conditions; model-free intelligent control; three dimensional fuzzy PID controller design; tracking performance; Adaptive control; Control systems; Fuzzy control; Intelligent control; Kinematics; Machining; Manipulators; Parallel robots; Three-term control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2002. Proceedings of the 2002 International Conference on

Print_ISBN

0-7803-7386-3

Type

conf

DOI

10.1109/CCA.2002.1040235

Filename

1040235