![]() ![]() Moreover, since the parallel manipulator’s structure distributes the load among all limbs, they can move heavier payloads compared with serial manipulators of the same weight. Parallel robots have special characteristics that make them suitable for the cases in which higher speed and acceleration with higher precision are needed. serial ones or mobile robots have been designed and manufactured in industries, parallel ones are still being studied as a new candidate to compromise deficiencies of serial ones.Ī manipulator whose base and end-effector (or fixed and moving platforms) are connected through a number of kinematic chains is called parallel. Today’s Robots are the inseparable part of industries and have incredible dexterity to match their brute strength, and can actually learn on the job. ![]() Keywords – Parallel robots Mechatronics Calibration Vision Fuzzy PID Control. ![]() After successful calibration and addition of an appropriate control scheme, the robot has been considered as a color-painting prototype robot to serve in relevant industries.Įxperimental tests show the advantage of fuzzy-PID control based on calibrated parameters in Hexa parallel robot. This type of control contains a lot of advantages and can deal with nonlinear systems in spite of PID control problems. In this project, based on the vision based calibrated robot parameters, a fuzzy PID controller is implemented in 6-DOF parallel robot. Identifying the real geometrical parameters in the kinematic structure of a parallel robot (calibration) and simple and accurate Control method are two crucial problems in industrial robot fabrication and manufacturing.Īmong parallel structures, Hexa robot is a 6-DOF manipulator which is able to perform complex motions in the space. Note: The contributors of this project are Madi Babaiasl, Seyyed Hamed Mahdioun, Askar Azizi, and Mehdi Dehghani Abstractīecause of the sophisticated structure, parallel manipulators -unlike serial ones- have special characteristics that make them suitable for the tasks in which higher speed and acceleration with precision are required. So, if you are interested in learning about the control of parallel robots, keep reading. In this report, you will learn about the Fuzzy PID Control of a 6-DOF Parallel robot. ![]()
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |