Synchronization algorithm for controlling 3-R planar parallel pneumatic artificial muscle robot

The aim of this paper is to design a 3-R planar parallel robot and develop a synchronization controller in order to synchronize the operation of the robot actuators. By other means, the proposed controller compensates errors between the actuators and enforces them to cooperate harmonically with each other regardless external disturbance caused by outside environment or geometrical constraints of the closed-loop structure. Due to the high adaptability, the Adaptive neuro-fuzzy algorithm was modified and applied as the main strategy of the synchronization controller. Practical experiments on a scaled parallel robot were carried out to evaluate the designed controller. The results showed that by applying the proposed technique, the working errors of the component actuators converged quickly to zero almost at the same time. Subsequently, the performance of the common platform was significantly improved in comparison with the performance when applying a non synchronization controller. The proposed method is effective in controlling systems which require collaborations between the sub-agents.