Comparison of Fuzzy-PID and PID Controller for Stabilization of Roll and Pitch Angle of Model Boat Platform Using ۲ Degrees of Freedom Spherical Parallel Robot

Plate stabilization in moving objects has always been one of the most interesting and challenging topics in the world of robotics and various methods have been presented to solve it. Humankind to solve the problem of stabilization of various mechanisms, robots, electromechanical and mechatronic, pneumatic systems and ... In the meantime, parallel robots are among the excellent mechanisms to achieve stabilization, which in some cases are used due to the extraordinary characteristics they have. In this paper, with the introduction of parallel robots and their characteristics, a parallel ۲ degrees of spherical parallel robot prototype is thoroughly investigated and while providing mathematical relations and its conversion function, the simulated PID and fuzzy-PID controllers are compared.

کلیدواژه ها:

Fuzzy-PID ، PID Controller ، Stabilization ، ۲ Degrees of Freedom ، Spherical Parallel Robot