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16 June 2023 Trajectory tracking control of SCARA parallel robot based on fuzzy adaptive iterative learning algorithm
Qiancheng Li, Guanglei Wu, Huiping Shen
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Proceedings Volume 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023); 126392N (2023) https://doi.org/10.1117/12.2682089
Event: Third International Conference on Mechanical Design and Simulation (MDS 2023), 2023, Xi'an, China
Abstract
Aiming to improve the anti-interference capability and trajectory tracking accuracy of the robot control system that undertakes repetitive motion tasks, this work presents the trajectory tracking control along with a four degree-of-freedom parallel robot. By means of the principle of virtual work, the dynamic model of the robot was built for the model-based control design. A fuzzy adaptive iterative learning control algorithm was proposed by combining fuzzy control theory and iterative learning theory. Finally, the proposed algorithm was simulated and verified in comparison with the traditional iterative learning control algorithm, of which the results show that the proposed algorithm has robustness and higher tracking accuracy than the traditional one.
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Qiancheng Li, Guanglei Wu, and Huiping Shen "Trajectory tracking control of SCARA parallel robot based on fuzzy adaptive iterative learning algorithm", Proc. SPIE 12639, Third International Conference on Mechanical Design and Simulation (MDS 2023), 126392N (16 June 2023); https://doi.org/10.1117/12.2682089
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KEYWORDS
Fuzzy logic
Detection and tracking algorithms
Control systems
Design and modelling
Adaptive control
Model-based design
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