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Optimization design by genetic algorithm controller for trajectory control of a 3-RRR parallel robot. (English) Zbl 07052085
Summary: In order to improve the control precision and robustness of the existing proportion integration differentiation (PID) controller of a 3-Revolute-Revolute-Revolute (3-RRR) parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vector method, and the motor conversion matrix was deduced. Then, the error square integral was chosen as the fitness function, and the genetic algorithm controller was designed. Finally, the control precision of the new controller was verified through the simulation model of the 3-RRR planar parallel robot – built in SimMechanics – and the robustness of the new controller was verified by adding interference. The results show that compared with the traditional PID controller, the new controller designed in this paper has better control precision and robustness, which provides the basis for practical application.
Reviewer: Reviewer (Berlin)
MSC:
93C85 Automated systems (robots, etc.) in control theory
70B15 Kinematics of mechanisms and robots
68T40 Artificial intelligence for robotics
70E60 Robot dynamics and control of rigid bodies
Software:
SimMechanics
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