Design of PID and Fuzzy-PID Controllers for Agile Eye Spherical Parallel Manipulator

Abstract

In this paper, the spherical three-degree-of-freedom parallel manipulator has been called Agile Eye which is designed in MCS.ADMAS as an analysis software for defining the constraints and variables. Then, forward kinematic equations of the Agile Eye spherical parallel manipulator are obtained. After that, the block diagram of ADAMS is used for controlling the Agile Eye spherical parallel manipulator with MATLAB software. The input signals of the ADAMS block are controlled torque to the lower links afterward the angle lower links and the end effector position of the ADAMS block will be obtained. Controllers PD, PID, and Fuzzy-PID are designed for the Agile Eye Spherical Parallel Manipulator. Then, the outcomes which have been acquired from the controllers are looking at and the best execution which will be presented. The system responses of the Fuzzy PID controller with a path planning as input for each lower links is computed which is includes a comparison between the reference model and the system responses. Finally, the position of the End Effector will be obtained.