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Fuzzy Control of a 3 Degree of Freedom Parallel Robot

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Technological Developments in Education and Automation

Abstract

Medical robotics is a relatively new branch of robotics. The paper presents an innovative user interface for the control of a 3 DOF Isoglide 3 parallel robot. The Isoglide3 robot described in (Stan, 2008), offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construction. The interface presented in this paper enables the user to apply PID and fuzzy controller together. The robot interface using virtual reality was verified and tested, and results presented in MATLAB, Simulink, and SimMechanics. The fuzzy controller was numerically simulated on problems of trajectory tracking. The simulation results demonstrated the superiority of fuzzy control over traditional PID control.

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Acknowledgments

Support for this work was provided through the CNMP under research grant PARTENERIATE 3280, “Complex mechatronics systems for medical applications”.

Author information

Authors and Affiliations

  1. Department of Mechatronics, Technical University of Cluj-Napoca, C. Daicoviciu no. 15, Cluj-Napoca, Romania

    Sergiu-Dan Stan, Radu Balan & Ciprian Rad

  2. IFMA, Clermont-Ferrand, France

    Grigore Gogu

  3. University of Idaho, Idaho Falls, USA

    Milos Manic

Authors
  1. Sergiu-Dan Stan
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  2. Grigore Gogu
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  3. Milos Manic
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  4. Radu Balan
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  5. Ciprian Rad
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Corresponding author

Correspondence to Sergiu-Dan Stan .

Editor information

Editors and Affiliations

  1. Dept. Civil & Environmental Engineering, Polytechnic University, Jay Street 333, Brooklyn, 11201, U.S.A.

    Magued Iskander

  2. Dept. Civil & Environmental Engineering, Polytechnic University, Jay Street 333, Brooklyn, 11201, U.S.A.

    Vikram Kapila

  3. Old Dominion University, Monarch Way 4111, Norfolk, 23508, U.S.A.

    Mohammad A. Karim

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© 2010 Springer Science+Business Media B.V.

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Stan, SD., Gogu, G., Manic, M., Balan, R., Rad, C. (2010). Fuzzy Control of a 3 Degree of Freedom Parallel Robot. In: Iskander, M., Kapila, V., Karim, M. (eds) Technological Developments in Education and Automation. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-3656-8_79

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