Real-time Fuzzy Position Control and Design of Star Parallel Robot

Abstract

Abstract The goal of this study is to use fuzzy logic to develop and operate a specially made Star parallel robot inside a given working volume. The robot was constructed and outfitted with the required components after it was designed in Solidworks with a working volume of 20x20x20 cm³. Fuzzy logic was used in a Matlab/Simulink Real-time environment to accomplish real-time position control. The objective was to use reference values of x = 100 mm, y = 200 mm, and z = 480 mm to regulate the end effector's location. The robot demonstrated the efficacy of the control mechanism by reaching the intended values in 8.286 seconds with a maximum error of 0.08%, as per the results. The investigation shed light on the trajectory of the robot as well as the error convergence over time. This paper presents a unique design with a working volume for a Star parallel robot, introducing the first application of real-time fuzzy logic control. Furthermore, the Star parallel robot's forward kinematic equations were published in the literature for the first time.