Volume 16, Issue 11 (2017)                   Modares Mechanical Engineering 2017, 16(11): 187-198 | Back to browse issues page

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Mazare M, Najafi M R. Adaptive Control of a 3-PUU Parallel Robot on Optimized Trajectories Generated by Harmony Search Algorithm. Modares Mechanical Engineering. 2017; 16 (11) :187-198
URL: http://journals.modares.ac.ir/article-15-4978-en.html
1- Faculty member, University of Qom
Abstract:   (1582 Views)
In this paper, design of an adaptive controller, as a combination of feedback linearization technique and Lyapunov stability theory, is presented for a parallel robot. Considering a three degree-of-freedom parallel mechanism of the robot, which serves pure translational motion for its end-effector, kinematic and constraint equations are derived. Then the dynamic model of the constrained system is extracted via Lagrange’s method to be used in the robot control. Two optimized trajectories are designed for the end-effector in the presence of some obstacles using harmony search algorithm to be tracked by the robot. An objective function is defined based on achieving to the shortest path and also avoiding collisions to the obstacles keeping a marginal distance from each. The first trajectory is a 2D path with four circular obstacles and the second is a 3D path with three spherical obstacles. Performance of the designed controller is simulated and studied in conditions including external disturbances and varying system parameters. The results show that the proposed adaptive controller has a suitable performance in control of the end-effector to track the designed trajectories in spite of external disturbances and also uncertainty and variation of the model parameters.
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Article Type: Research Article | Subject: robatic
Received: 2016/08/11 | Accepted: 2016/09/27 | Published: 2016/10/30

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