Fuzzy logic trajectory tracking control of a 3-RRS ball and plate parallel manipulator

The fuzzy logic controller for ball and plate based on Mamdani maximum-product method is proposed in this paper to improve the performance of the system. Various kinds of ball and plate test-beds, considered as typical multivariable, nonlinear systems, are usually employed to conduct researches for evaluating developed control algorithms. Although most of these equipment have been presented as two degrees of freedom (DOF) parallel manipulators, the proposed mechanism possess 3 DOF. In fact, the moving plate of the proposed system has two rotational movements, and a translation along vertical axis. Control of the system has been investigated after driving kinematics and dynamics equations of motion. The main purpose of control section is to make the ball track a desired trajectory. Simulation results reveal the merits of the proposed controller to perform appropriately.