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Control Parallel Robots Driven by DC Motors Using Fuzzy Sliding Mode Controller and Optimizing Parameters by Genetic Algorithm

  • Vu Duc VuongEmail author
  • Nguyen Quang Hoang
  • Nguyen Tien Duy
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 104)

Abstract

Parallel robots are widely used because of many acquired advantages such as rigidity, high accuracy and small dynamic link weight due to their structure as closed-loop multibody systems. However, this also leads to many difficulties in controlling the robot and requires intensive research on robot control strategies and reasonable control factors to ensure optimal control quality. This paper presents the way to control parallel robots driven by DC motors using Fuzzy Sliding Mode Controller and optimizing parameters by genetic algorithm to achieve the best optimized quality control as well as overcome the disadvantages of the basic sliding mode controller. Numerical simulations are carried out on a 3RRR parallel robot model to confirm the feasibility and effectiveness of the proposed method.

Keywords

Parallel robot Modeling Sliding mode controller Fuzzy sliding mode controller Genetic algorithm 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Vu Duc Vuong
    • 1
    • 2
    Email author
  • Nguyen Quang Hoang
    • 1
  • Nguyen Tien Duy
    • 2
  1. 1.Hanoi University of Science and TechnologyHanoiVietnam
  2. 2.Thai Nguyen University of TechnologyThai NguyenVietnam

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