This work presents, a robust position tracking control of a 3-degrees of freedom 2PRP-PPR (P: Active Prismatic joint, P: Passive prismatic joint, R; Revolute joint) parallel motion mechanism. For controlling the motion of the defined platform, a simple method to develop a fuzzy logic controller called as robust single input fuzzy logic control (RSIFLC) algorithm is presented and used for the complex workspace trajectory tracking control problem with the existence of outside disturbances, variable uncertainties, and inner noises. The suggested control method comprises two sections: The first section considers a feed-forward expression to increase control action and a disturbance estimator to account for anonymous factors like outer disturbances and un-modeled dynamics. The second section employs single input fuzzy logic control as a feedback component to improve the system’s overall closed-loop stability. The experimental results demonstrate the superiority of the suggested control algorithm over traditional control schemes.
BriotSBonevIA.Are parallel robots more accurate than serial robots?Trans Can Soc Mech Eng2007; 31(4): 445–455.
2.
VermeirenLDequidtAAfrounM, et al. Motion control of planar parallel robot using the fuzzy descriptor system approach. ISA Trans2012; 51(5): 596–608.
3.
OttavianoECeccarelliM.Application of a 3-DOF parallel manipulator for earthquake simulations. IEEE/ASME Trans Mechatron2006; 11(2): 241–246.
4.
LiuTInoueYShibataK.Wearable force sensor with parallel structure for measurement of ground-reaction force. Measurement2007; 40(6): 644–653.
5.
XuWLPapJSBronlundJ.Design of a biologically inspired parallel robot for foods chewing. IEEE Trans Ind Electron2008; 55(2): 832–841.
6.
HuangTChetwyndDGMeiJP, et al. Tolerance design of a 2-DOF overconstrained translational parallel robot. IEEE Trans Robot2006; 22(1): 167–172.
7.
MotoiNShimonoTKuboR, et al. Task realization by a force-based variable compliance controller for flexible motion control systems. IEEE Trans Ind Electron2014; 61(2): 1009–1021.
8.
HoevenaarsAGLGosselinCLambertP, et al. Experimental validation of Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs. J Mech Robot2016; 8(4): 041002.
9.
WuJWangJYouZ.A comparison study on the dynamics of planar 3-DOF 4-RRR, 3-RRR and 2-RRR parallel manipulators. Robot Comput Integr Manuf2011; 27(1): 150–156.
WuGBaiSKeplerJA, et al. Error modeling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances. J Mech Robot2012; 4(4): 0410081–410112.
14.
ChoiKB.Kinematic analysis and optimal design of 3-PPR planar parallel manipulator. KSME Int J2003; 17(4): 528–537.
15.
SinghYVinothVKiranYR, et al. Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator. Robot Comput Integr Manuf2015; 34: 164–179.
16.
BonevIA.Planar parallel mechanism and method, filed November 17, 2006.
17.
VinothVSinghYSanthakumarM.Indirect disturbance compensation control of a planar parallel (2-PRP and 1-PPR) robotic manipulator. Robot Comput Integr Manuf2014; 30(5): 556–564.
18.
KellyRDavilaVSPerezJA. Control of robot manipulators in joint space. Leipzig, Germany, Springer Science & Business Media, 2006.
19.
GhorbelFHChetelatOGunawardanaR, et al. Modeling and set point control of closed-chain mechanisms: theory and experiment. IEEE Trans Control Syst Technol2000; 8(5): 801–815.
20.
LondhePSSinghYSanthakumarM, et al. Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator. ISA Trans2016; 63: 218–232.
21.
SuYSunDRenL, et al. Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators. IEEE Trans Robot2006; 22(1): 202–207.
22.
RenLMillsJKSunD.Experimental comparison of control approaches on trajectory tracking control of a 3-DOF parallel robot. IEEE Trans Control Syst Technol2007; 15(5): 982–988.
23.
FuKMillsJK.Robust control design for a planar parallel robot. Int J Robot Autom2007; 22(2): 139.
24.
DumluAErenturkK.Trajectory tracking control for a 3-DOF parallel manipulator using fractional-order $\hbox{pi}^{\lambda}\hbox{D}^{\mu}$ control. IEEE Trans Ind Electron2014; 61(7): 3417–3426.
25.
ShangWCongSZhangY.Nonlinear friction compensation of a 2-DOF planar parallel manipulator. Mechatronics2008; 18(7): 340–346.
26.
RenLMillsJKSunD.Trajectory tracking control for a 3-DOF planar parallel manipulator using the convex synchronized control method. IEEE Trans Control Syst Technol2008; 16(4): 613–623.
27.
YenPLLaiCC.Dynamic modeling and control of a 3-DOF Cartesian parallel manipulator. Mechatronics2009; 19(3): 390–398.
28.
ShangWCongS.Nonlinear computed torque control for a high-speed planar parallel manipulator. Mechatronics2009; 19(6): 987–992.
29.
CheungJWFHungYS. Robust learning control of a high precision planar parallel manipulator. Mechatronics2009; 19(1): 42–55.
30.
WuJWangJWangL, et al. Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy. Mech Mach Theory2009; 44(4): 835–849.
31.
Moreno-ValenzuelaJGonzález-HernándezL.Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity. ISA Trans2011; 50(1): 131–140.
32.
ShangWWCongSJiangSL.Dynamic model based nonlinear tracking control of a planar parallel manipulator. Nonlinear Dyn2010; 60(4): 597–606.
33.
Diaz-RodriguezMValeraAMataV, et al. Model-based control of a 3-DOF parallel robot based on identified relevant parameters. IEEE/ASME Trans Mechatron2013; 18(6): 1737–1744.
34.
González-VázquezSMoreno-ValenzuelaJ.Time-scale separation of a class of robust PD-type tracking controllers for robot manipulators. ISA Trans2013; 52(3): 418–428.
35.
SharmaRGaurPMittalAP.Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload. ISA Trans2015; 58: 279–291.
36.
SuYXSunDDuanBY.Design of an enhanced nonlinear PID controller. Mechatronics2005; 15(8): 1005–1024.
37.
ArmstrongBNeevelDKusikT.New results in NPID control: tracking, integral control, friction compensation and experimental results. IEEE Trans Control Syst Technol2001; 9(2): 399–406.
38.
SerajiH.A new class of nonlinear PID controllers with robotic applications. J Robot Syst1998; 15(3): 161–181.
39.
BascettaLRoccoP.Revising the robust-control design for rigid robot manipulators. IEEE Trans Robot2010; 26(1): 180–187.
40.
ZhuWHLamarcheTDupuisE, et al. Precision control of modular robot manipulators: the VDC approach with embedded FPGA. IEEE Trans Robot2013; 29(5): 1162–1179.
41.
ShengLLiW.Optimization design by genetic algorithm controller for trajectory control of a 3-RRR parallel robot. Algorithms2018; 11(1): 7.
42.
MohanSMohantaJK.Dual integral sliding mode control loop for mechanical error correction in trajectory-tracking of a planar 3-PRP parallel manipulator. J Intell Robot Syst2018; 89(3–4): 371–385.
43.
MohanS.Error analysis and control scheme for the error correction in trajectory-tracking of a planar 2PRP-PPR parallel manipulator. Mechatronics2017; 46: 70–83.
44.
ZhangZYanZ.An adaptive fuzzy recurrent neural network for solving the nonrepetitive motion problem of redundant robot manipulators. IEEE Trans Fuzzy Syst2020; 28(4): 684–691.
45.
UrreaCKernJAlvaradoJ.Design and evaluation of a new fuzzy control algorithm applied to a manipulator robot. Appl Sci2020; 10(21): 7482.
46.
LinZCuiCWuG.Dynamic modeling and torque feedforward based optimal fuzzy PD control of a high-speed parallel manipulator. J Robot Control2021; 2(6): 527–538.
47.
ChoubeyCOhriJ.GWO-Based tuning of LQR-PID controller for a 3-DOF parallel manipulator. IETE J Res. Epub ahead of print 2August2015. DOI: 10.1080/03772063.2021.1958068.
48.
GaoYXiaoFLiuJ, et al. Distributed soft fault detection for interval type-2 fuzzy-model-based stochastic systems with wireless sensor networks. IEEE Trans Ind Inform2019; 15(1): 334–347.
49.
SunYGaoYZhaoY, et al. Neural network-based tracking control of uncertain robotic systems: predefined-time nonsingular terminal sliding-mode approach. IEEE Trans Ind Electron2022; 69(10): 10510–10520.
50.
LinHLiuJShenX, et al. Fuzzy sliding-mode control for three-level NPC AFE rectifiers: a chattering alleviation approach. IEEE Trans Power Electron2022; 37: 11704–11715.
51.
YuTZhaoYWangJ, et al. Event-triggered sliding mode control for switched genetic regulatory networks with persistent dwell time. Nonlinear Anal Hybrid Syst2022; 44: 101135.
52.
LeeCC.Fuzzy logic in control systems: fuzzy logic controller. I. IEEE Trans Syst Man Cybern1990; 20(2): 404–418.
53.
DriankovDHellendoornHReinfrankM.An introduction to fuzzy control. Verlag Barlin, New york, Springer Science Business Media, 2013.
54.
ChoiBJKwakSWKimBK.Design of a single-input fuzzy logic controller and its properties. Fuzzy Sets Syst1999; 106(3): 299–308.
55.
IshaqueKAbdullahSSAyobSM, et al. Single input fuzzy logic controller for unmanned underwater vehicle. J Intell Robot Syst2010; 59(1): 87–100.
56.
SuYXDuanBYZhengCH.Nonlinear PID control of a six-DOF parallel manipulator. IEE Proc Control Theory Appl2004; 151(1): 95–102.
57.
JoubairASlamaniMBonevIA.A novel XY-Theta precision table and a geometric procedure for its kinematic calibration. Robot Comput Integr Manuf2012; 28(1): 57–65.
ChoiBJKwakSWKimBK.Design and stability analysis of single-input fuzzy logic controller. IEEE Trans Syst Man Cybern B2000; 30(2): 303–309.
60.
LondhePSPatreBMTiwariAP.Design of single-input fuzzy logic controller for spatial control of advanced heavy water reactor. IEEE Trans Nucl Sci2014; 61(2): 901–911.
61.
IshaqueKAbdullahSSAyobSM, et al. A simplified approach to design fuzzy logic controller for an underwater vehicle. Ocean Eng2011; 38(1): 271–284.
62.
SabanovicAOhnishiK.Motion control systems. New York, NY: John Wiley & Sons, 2011.
63.
CaoSGReesNWFengG.Stability analysis of fuzzy control systems. IEEE Trans Syst Man Cybern B1996; 26(1): 201–204.
64.
MargaliotMLangholzG.Fuzzy Lyapunov-based approach to the design of fuzzy controllers. Fuzzy Sets Syst1999; 106(1): 49–59.
