Abstract
In order to improve the control precision and robustness of the existing proportion integration differentiation (PID) controller of a 3-Revolute–Revolute–Revolute (3-RRR) parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vector method, and the motor conversion matrix was deduced. Then, the error square integral was chosen as the fitness function, and the genetic algorithm controller was designed. Finally, the control precision of the new controller was verified through the simulation model of the 3-RRR planar parallel robot—built in SimMechanics—and the robustness of the new controller was verified by adding interference. The results show that compared with the traditional PID controller, the new controller designed in this paper has better control precision and robustness, which provides the basis for practical application.
Highlights
Parallel industrial robots are essentially closed kinematic chain mechanisms, in which the end-effector is clamped onto the base through several independent kinematic chains [1]
The inverse kinematics model of the 3-RRR parallel robot was established according to the vector method, and the motor conversion matrix was deduced
The control precision of the new controller was verified through the simulation model of the 3-RRR planar parallel robot—built in SimMechanics—and the robustness of the new controller was verified by adding interference
Summary
Parallel industrial robots are essentially closed kinematic chain mechanisms, in which the end-effector is clamped onto the base through several independent kinematic chains [1]. Gao [12] designed a planar 3-RRR parallel industrial robot by analyzing kinematics, singularity, dynamics, and controlling problems. Yu [14] presented experimental research on the dynamics of flexible 3-RRR parallel robots and compared the results between the theoretical and experimental analysis It can be seen from the above literature that the current research on the 3-RRR parallel robot mainly focuses on the dynamics model, work space analysis, singular point analysis, and structural optimization. A variable PID parameter controller optimized by a genetic algorithm has been designed in this paper, differing from previous research by combining both advantages. The other parts of this paper are arranged as follows: Section 2 introduces the model of the planar parallel industrial robot; Section 3 presents the virtual bench setup and genetic algorithm controller; Section 4 discusses the simulation results; Section 5 is the conclusion
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