Abstract
Parallel robots are widely used because of many acquired advantages such as rigidity, high accuracy and small dynamic link weight due to their structure as closed-loop multibody systems. However, this also leads to many difficulties in controlling the robot and requires intensive research on robot control strategies and reasonable control factors to ensure optimal control quality. This paper presents the way to control parallel robots driven by DC motors using Fuzzy Sliding Mode Controller and optimizing parameters by genetic algorithm to achieve the best optimized quality control as well as overcome the disadvantages of the basic sliding mode controller. Numerical simulations are carried out on a 3RRR parallel robot model to confirm the feasibility and effectiveness of the proposed method.
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Vuong, V.D., Hoang, N.Q., Duy, N.T. (2020). Control Parallel Robots Driven by DC Motors Using Fuzzy Sliding Mode Controller and Optimizing Parameters by Genetic Algorithm. In: Sattler, KU., Nguyen, D., Vu, N., Tien Long, B., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2019. Lecture Notes in Networks and Systems, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-37497-6_24
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DOI: https://doi.org/10.1007/978-3-030-37497-6_24
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