ADAPTIVE FUZZY CONTROL OF A STEWART PLATFORM MANIPULATOR

抄録

The Stewart platform is one example of a parallel manipulator with high force to weight ratio and fine positioning accuracy far exceeding those of a conventional serial-link arm. It is basically a closed-link type robot manipulator having 6 degrees of freedom. In this paper the implementation of an adaptive control scheme based on fuzzy logic theory is used to control the motion of a Stewart platform manipulator. The inverse kinematics is analysed and six individual controllers are implemented in the actuators coordinates. An experimental study is conducted to evaluate the performance of the proposed control scheme implemented to control the manipulator to track a defined path. Experimental results show that the proposed control policy provides superior tracking capability as compared to the fi xed-gain controllers.