关键词: Delta机器人, 弹性动力学模型, 模糊PID, 遗传算法

Abstract: To improve the real-time and accuracy of Delta robot's control,and to improve the control process and operating efficiency,Delta robot was taken as the study object,the elastic dynamic model for fully considering the characteristics of motion and dynamic of active arms and driven arms was built based on space finite element theory and Lagrange equation.Through analyzing the structural features of system,the active arms input torque of Delta robot was controlled by the fuzzy Proportional-Integral-Derivative (PID) controller and the traditional PID controller in parallel form.By taking the average values of moving platform's trajectory errors and the average frequency of first three order natural frequency as target functions,the parameters range of fuzzy PID control was obtained by genetic algorithm,so as to improve the real-time and accuracy of control.Combined simulation of ADAMS and MATLAB/simulink and the field test of physical prototype were used to verify the validity and correctness of the control strategy.

Key words: Delta robot, elastic dynamic model, fuzzy proportional-integral-derivativel, genetic algorithms