Study On Self-Learning Fuzzy Sliding-Mode Control For A Parallel Mechanism

Robot with parallel mechanism has many obvious advantages over serial robot. It has wide applications in space flight, medical treatment and numerically controlled machinery. Parallel Robot with Three Dimensional Level Movement researched in this project could be applied in various fields such as high precision machinery, Coordinate Measuring Machine (CMM),etc..Kinematics and dynamics relations of parallel robot are analyzed in this project. Methods to draw three-dimensional images of robot's workspace by compiling programs in MATLAB are presented. A completed parallel robot control system is set up. An efficient robot control program written in VC++ code, which can drive robot to move along any locus in its workspace with high precision, is designed.In the researching of parallel mechanism control theory, the Sliding Mode Control (SMC) theory has been introduced first. The existence, reaching and stability of the mode of SMC system have been analyzed completely. And then, the theoretic analysis of the Fuzzy Sliding-Mode Control (FSMC) and Self-Learning Fuzzy Sliding-Mode Control (SLFSMC) have been accomplished, for the chattering of the SMC and the control form of parallel mechanism, which is dispersedly driven by the stepper motor. Moreover, the simulation experiment for the tracking has been implemented. The theoretic analysis and simulation results show that these arithmetic have solved the chattering problem, which exists in the traditional SMC, the system is more robust and capable of tracking the ideal locus.In the parallel mechanism experiment of digital control system, this dissertation adopts the framework of multi-PC and sets up the hardware systems with PC and standard control card. And this framework can greatly simplify the structure of the control system and has preferable reliability and real-time capability. In the end, an efficient robot control program written in VC++ code, which can drive robot to move along any locus in its workspace with high precision, is designed.