Experimental system for the optimization of the parallel manipulator control

Nguyen Xuan Vinh, Le Quoc Ha, Nguyen Ngoc Lam, Le Hoai Quoc, Nguyen Minh Thanh

Abstract


This paper presents the results of an experimental system design for the optimization of parallel manipulator control based on an optimal configuration. The experimental system is an open design for various different configurations and controllers to support parallel manipulator research and applications. Traditional PID control and self-tuning fuzzy PID control algorithm are applied for motion control of parallel manipulator. The quality system standard will be analyzed and compared with simulation results. The system can be a useful tool for research and training.

Keywords


Parallel manipulator, robot experimental system, robot controller, fuzzy theory, PID controller, self-tuning.

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DOI: https://doi.org/10.15625/1813-9663/31/2/5869

Journal of Computer Science and Cybernetics ISSN: 1813-9663

Published by Vietnam Academy of Science and Technology