This paper presents the results of an experimental system design for the optimization of parallel manipulator control based on an optimal configuration. The experimental system is an open design for various different configurations and controllers to support parallel manipulator research and applications. Traditional PID control and self-tuning fuzzy PID control algorithm are applied for motion control of parallel manipulator. The quality system standard will be analyzed and compared with simulation results. The system can be a useful tool for research and training.
This paper presents the results of optimal design and control for a Stewart-Gough Platform. An experimental system was designed for the optimization of the parallel manipulator control based on a selected optimal configuration. This system is an open design for variation different configurations and controllers to support parallel manipulator research and applications. A parameters space investigation (PSI) algorithm with the Pareto optimal set was used to optimize parallel manipulator configuration with limited survey workspace. A tradition PID control and a self-tuning Fuzzy PID control algorithm were applied for real-time motion control of parallel manipulator. Quality system standards will be analyzed with different controllers. The system can be a useful tool for research and training purposes.
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