Investigation of Tracking Performance for Par-4 Delta Parallel Robot with Nature-Inspired Optimizations of Fuzzy-PID Controller

Résumé fourni par la source

The Par-4 Delta parallel robot is a powerful candidate in most pick and place applications which requires high speed, high acceleration and high precision. The control design is the key for improving the tracking accuracy of parallel robots. The PID controller, includes proportional, integral and derivative terms for tuning the controller. However, optimal tuning process of PID controller is cumbersome unless optimization techniques are proposed. In this study, Whale Optimization Algorithm (WOA) and Fuzzy logic controller are proposed to tune the parameters of controller. The objective of these methods is to optimally tune the parameters of PID controller towards global minimum of tracking errors. Using the Root Mean Square of Error (RMSE) as the metric of evaluation, the numerical results showed that the Fuzzy PID controller with WOA optimized parameters by 77.3% on the xaxis and 66.7% on the z-axis as compared to the other implemented methods.

Ce résumé expose les affirmations des auteurs. BNTIC ne l’interprète pas comme une validation indépendante des résultats.