工作区
并联机械手
控制器(灌溉)
控制理论(社会学)
机器人
计算机科学
MATLAB语言
跟踪误差
模糊逻辑
模糊控制系统
趋同(经济学)
控制工程
模拟
工程类
控制(管理)
人工智能
经济增长
农学
经济
生物
操作系统
作者
Mai The Vu,Kuo-Hsien Hsia,Fayez F. M. El-Sousy,Thaned Rojsiraphisal,Reza Rahmani,Saleh Mobayen
出处
期刊:Mathematics
[MDPI AG]
日期:2022-10-16
卷期号:10 (20): 3826-3826
被引量:4
摘要
Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.
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