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Design, Simulation and Analysis of 6-DOF RSPR Parallel Robot Controller

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Parallel manipulation is relatively a new field in robotics. Parallel manipulators exhibit several advantages: provides high rigidity and high payload-to-weight ratio, high accuracy, low inertia of moving parts, high agility, and simple solution for the inverse kinematics problem. However, the parallel manipulator also suffers several disadvantages: limited work volume, low dexterity, complicated direct kinematics solution, and singularities that occur both inside and on the envelope of the work volume. nThis thesis work will demonstrate how to design, simulate and analyze (based on the mathematical model) of the 6-dof parallel manipulator type RSPR with ANFIS automatic controller, and give their theoretical background for further understanding. We will try to reduce errors by two kind controllers (PID & ANFIS) and chose the most reliable one.nBased on the simulation result of the plant, the author concludes that PID controller has better reliability to the overall project performance. n

nNotes: CD is not available

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Availability

M00067

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Available

Detail Information

Series Title

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Call Number

67

Publisher

: Swiss German University., 2005

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Language

English

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Subject(s)

MME

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