Trajectory tracking control of 3-DOF Delta robot using Fuzzy-PID atgorithm

Abstract

The article presents an application of the Fuzzy-PID controller to control 3-DOF Delta robots. This is a parallel
robot with a wide range of applications, from assemblying sophisticated parts to the creation of complex
movements in shaping, machining of complex profiles with high performance, high loading capacity, etc. The
Fuzzy-PID algorithm is designed to control the robot trajectory in order to combine the advantages of the Fuzzy
and PID algorithms. Simulation results in MATLAB/SIMULINK show that the response of the proposed
controller is better compared to traditional PID controllers, without overshoot and steady-state error, and with
response time about 0.11 (s).