Zhejiang Science and Technology Information Institute

A Six-Degree-of-Freedom Wave Compensation Parallel Robot with Triple-Loop Fractional-Order PI Control Optimized by Tuna Swarm Optimization

For high-precision attitude adjustment tasks of a six-degree-of-freedom (6-DOF) wave-compensation parallel robot in shipborne applications, strong non-stationary wave excitations, abrupt load changes, and broadband disturbances jointly challenge tracking accuracy and smoothness....