The Research Of Fuzzy Immune Pid Drive Control On A 2-dof Parallel Robot

Parallel robot is a new kind of robot which has the features of high rigidity, high burden capacity,no accumulation of positional error,high accuracy,low inertia,etc.At Present,PR is widely used in the fields of numerical control process, industry cutting,movement simulation,sensor and precise process and so on.In this paper,for 2-DOF redundant parallel robot,I analyses the hardware system build of the parallel robot and its kinematic and dynamic analysis.Because the parallel robot dynamics equation is highly nonlinear,mutual coupling,for such complex nonlinear control system,the traditional method is difficult to recruit effective control.I first used the PID Control Method to simulink.After analyzing the problem of the traditional PID control strategy,Fuzzy Immune PID control algorithem was divised based on Fuzzy Control Theory and Immune PID Control Method.The simulation results demonstrate the method is strongly implemented the high- precision and high-accuracy control of parallel robot.In the research,the program is accomplished at last in the Visual C++.And also the experiment was carried on the parallel robot.The result of the experiment testified that the Fuzzy Immune PID Control arithmetic has the feature of high following speed,high control precision and well dynamic performance etc.It fits in the control of parallel robot.