Implementation of the parallel robot using FOPID with fuzzy type-2 in use social spider optimization algorithm
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Tarih
2021
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this paper fractional order proportional integral derivative (FOPID) controller has been introduced with the fuzzy logic control (fuzzy type-2) which has been utilized with social spider optimization (SSO) algorithm to enhance the performance of the three links parallel robot. To achievement the best performance for the model robot planar, to compare with the fractional order proportional integral derivative controller it can be expressed as a general issue to solve the performance of the three-links parallel robot, and to create a trajectory circle that has been optimized. The fuzzy technique with fractional order proportional integral derivative is used to solve the quality working of robot planar model on torques to reduce the error of trajectory for end-efector, the error in x and y-axis positions, mean square error for theta 1, 2, 3, fuzzy type-2 with optimized SSO algorithm uses fractional order proportional integral derivative that has been reduced in thetas to 0% and more calculations for results which provide the suitable performance for the dynamic model that is based on the equation of Euler–Lagrange executed using MATLAB-Simulink.
Açıklama
Anahtar Kelimeler
Parallel-Manipulator, Parallel 6-DOF Robot, Fuzzy Type-2, Social Spider Optimization Algorithm, FOPID Controller
Kaynak
Applied Nanoscience
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
Sayı
Künye
Mohamadwasel, N. B., Kurnaz, S. (2021). Implementation of the parallel robot using FOPID with fuzzy type-2 in use social spider optimization algorithm. Applied Nanoscience, 1-11.
