Six Degree of Freedom Parallel Platform Control Based on Fuzzy PID and Calculated Torque

Controlling six-degree-of-freedom parallel platforms, essential in aerospace and medical technology, is challenging due to their nonlinear, multivariable characteristics and parameter coupling. This paper presents a hybrid control strategy that integrates fuzzy PID control with the calculated torque method. The fuzzy PID controller dynamically adjusts parameters to manage system nonlinearity and uncertainty, while the calculated torque method improves control precision by computing necessary actuation torques. Experimental results show that this method reduces branch rod error to approximately 0.2mm with a maximum error reduction to 0.6%, significantly enhancing control accuracy and system stability. This approach offers a promising solution to the complexities of controlling advanced parallel platforms, providing improved precision, stability, and adaptability.