Advanced dynamic path control of a 3-DOF spatial parallel robot using adaptive neuro fuzzy inference system

Abstract

In engineering applications, the very precise control of parallel manipulators to track the desired trajectory has received a great deal of attention. This paper presents a new methodology to investigate this problem based on the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller for three degrees of pure translational freedom of the spatial parallel manipulator by employing the architecture of a modified DELTA robot. At first, the mobility and velocity analysis of the manipulator is carried out in details. The inverse dynamic modeling is performed based on the principle of virtual work. Then, the control algorithm using ANFIS method is implemented and simulation results show the better performance in comparison with computed torque method.