Study On Intelligent Control Method Of Parallel Robot

The parallel robot has become a hot spot for a long time because of its simple structure, high stiffness, high precision, and low movement inertia. It especially adapted to the task, which required high precision, heavy load and limited space. But the control method of parallel robot was principle problem because of its serious nonlinear and coupling, uncertain mathematical model and complicated control demand. Almost all the traditional control method failed to get a satisfying effect on the parallel robot.This paper mainly studied the intelligent control method of parallel robot. Firstly, it introduced the development trend of parallel robot and intelligent control theory. Secondly, it successfully built the mathematical model of the 6-DOF hydraulic-drive parallel robot. And then presented a method, which applied BP neural networks to self-adjust PID parameters. On the basis of introducing the theory of fuzzy control (FC) and neural network (NN) as a whole, this paper presented a new mixed control method, which was called as neural network-fuzzy control. (NN-FC). The NN-FC method combined the strong self-study ability of neural network and powerful experience-expressing ability of fuzzy control to meet the need of real-time control. This paper also stated the method of Adaptive Neural-Fuzzy Inference System (ANFIS) in details, which was used to analysis and testify effect of the NN-FC.The simulation results indicate that the parallel robot control can achieve much better effect than the traditional method by means of fuzzy control only if the abundant control experience and correct inference rules are available. As the simulation result showing, the ANFIS achieves the same satisfying effect with successful fuzzy control without requiring any control experience. The ANFIS can adjust the parameters of fuzzy inference system automatically and eliminate the influence of interfere signal on the base of adequate training samples. This is the most important strongpoint ofNN-FC.Finally, considering the application practice and improvement, this paper points out the direction of research in the future.