Control Strategy of a Hydraulic 6-DOF Parallel Robot
YANG Hao-quan1,2, ZHAO Ke-ding1, WU Sheng-lin1
1. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. Kunming Shipbuilding Equipment Co., Ltd, Kunming 650051, China
Abstract：The prototype of a hydraulic 6-DOF parallel robot developed is presented in this paper. Through the analysis of its system characteristics, a fuzzy adaptive PID control strategy with input and output feedforward compensation is put forward. Experiment study is made on the prototype, and the results indicate that, with this control strategy, the asymmetrical characteristics of the system can be greatly compensated, and the response time, movement accuracy and resistance to load disturbance of the system can be improved.
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