In this paper fractional order proportional integral derivative (FOPID) controller has been introduced with the fuzzy logic control (fuzzy type-2) which has been utilized with social spider optimization (SSO) algorithm to enhance the performance of the three links parallel robot. To achievement the best performance for the model robot planar, to compare with the fractional order proportional integral derivative controller it can be expressed as a general issue to solve the performance of the three-links parallel robot, and to create a trajectory circle that has been optimized. The fuzzy technique with fractional order proportional integral derivative is used to solve the quality working of robot planar model on torques to reduce the error of trajectory for end-effector, the error in x and y-axis positions, mean square error for theta 1, 2, 3, fuzzy type-2 with optimized SSO algorithm uses fractional order proportional integral derivative that has been reduced in thetas to 0% and more calculations for results which provide the suitable performance for the dynamic model that is based on the equation of Euler–Lagrange executed using MATLAB-Simulink.

在本文中，分数阶比例积分微分 (FOPID) 控制器引入了模糊逻辑控制 (fuzzy type-2)，该控制已与社交蜘蛛优化 (SSO) 算法一起使用，以提高三连杆并联机器人的性能。为实现模型机器人平面的最佳性能，与分数阶比例积分微分控制器相比，可以将其表示为解决三连杆并联机器人性能的一般问题，并创建一个轨迹圆优化。采用分数阶比例积分导数模糊技术解决机器人平面模型在扭矩上的质量问题，以减少末端执行器轨迹误差，x和y的误差- 轴位置，theta 1、2、3 的均方误差，带有优化 SSO 算法的模糊类型 2 使用分数阶比例积分导数，在 thetas 中已减少到 0% 和更多计算结果，为基于使用 MATLAB-Simulink 执行的 Euler-Lagrange 方程的动态模型。