title: Simulation and experimental control of a 3-RPR parallel robot using optimal fuzzy controller and fast on/off solenoid valves based on the PWM wave.
abstract: In this paper, a robust optimal fuzzy controller based on the Pulse Width Modulation (PWM) technique is proposed to control a laboratory parallel robot using inexpensive on/off solenoid valves. The controller coefficients are determined using Modified Cuckoo Optimization Algorithm. The objective function of this method is considered such that the results show the position tracking by the robot with less force and more efficiency. Regarding the results of experimental tests, the control strategy with on/off valves indicates good performance such that the maximum value of RMS of error for a circular path with increasing force on the system is 3.1mm. Furthermore, the results show the superiority of the optimal fuzzy controller compared with optimal PID controller in tracking paths with different conditions and uncertainties.
authors.affiliation: Young Researchers and Elite Club, Shiraz Branch, Islamic Azad University, Shiraz, Iran. Electronic address: moezi2000@gmail.com.
authors.forename: Seyed Alireza
authors.initials: SA
authors.lastname: Moezi
authors.affiliation: Department of Mechanical Engineering, Yazd University, Yazd, Iran.
authors.forename: Mansour
authors.initials: M
authors.lastname: Rafeeyan
authors.affiliation: Young Researchers and Elite Club, Shiraz Branch, Islamic Azad University, Shiraz, Iran.
authors.forename: Ehsan
authors.initials: E
authors.lastname: Zakeri
authors.affiliation: Young Researchers and Elite Club, Shiraz Branch, Islamic Azad University, Shiraz, Iran.
authors.forename: Amin
authors.initials: A
authors.lastname: Zare
keywords: 3-RPR planar parallel robot; Modified Cuckoo Optimization Algorithm; On/off solenoid valves; Optimal fuzzy controller; PWM wave