Designing An optimal Fuzzy-WOA Controller for Parallel Robots “Stewart Robots”

Abstract

The purpose of this paper is to design and analyze a hybrid controller for controlling a parallel robot arm (stewart). In this article, the direct kinematics of the robot is solved by the quadrilateral method. The results of this analysis along with numerical inverse dynamics can be applied to a robot of a certain size that works with electric jacks. In the following, a proportional, derivative and fuzzy integral controller is proposed to control the Stewart robot. This controller is optimized with genetic algorithm and woa method. Meanwhile, fast and appropriate performance, reduction of controller rules, resistance to specific limitations and controllability have always been among the goals. Also, by separating the independent dynamic equations, due to the use of fewer sensors, it facilitates optimal implementation of fuzzy proportionality and low implementation cost. In the applications of this design, accuracy, hardness and high capacity are provided. These types of designs are used in the manufacture of medical equipment, airplane simulators, CNC machines, stadium filming. Among the advantages of this unique design, high speed and accuracy, greater hardness due to its inherent structure and the ability to move with high precision can be mentioned.