In order to improve the control precision and robustness of the existing proportion\nintegration differentiation (PID) controller of a 3-Revoluteââ?¬â??Revoluteââ?¬â??Revolute (3-RRR) parallel robot,\na variable PID parameter controller optimized by a genetic algorithm controller is proposed in this\npaper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to\nthe vector method, and the motor conversion matrix was deduced. Then, the error square integral\nwas chosen as the fitness function, and the genetic algorithm controller was designed. Finally, the\ncontrol precision of the new controller was verified through the simulation model of the 3-RRR planar\nparallel robotââ?¬â?built in SimMechanicsââ?¬â?and the robustness of the new controller was verified by\nadding interference. The results show that compared with the traditional PID controller, the new\ncontroller designed in this paper has better control precision and robustness, which provides the\nbasis for practical application.
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