Tracking Control of Parallel Robot Manipulators Using RBF Neural Network
Since parallel robots are the multibody systems with closed-loop structures, their movement equations usually are in the complex form of redundant coordinates and their dynamics parameters are usually uncertain. The aim of this paper is to improve the control quality for the parallel robot by applyi...
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2021
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| Truy cập trực tuyến: | https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 https://dlib.phenikaa-uni.edu.vn/handle/PNK/2686 https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 |
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oai:localhost:PNK-26862022-08-17T05:54:48Z Tracking Control of Parallel Robot Manipulators Using RBF Neural Network Vu Le Huy Nguyen Dinh Dzung Parallel robot Sliding mode control Since parallel robots are the multibody systems with closed-loop structures, their movement equations usually are in the complex form of redundant coordinates and their dynamics parameters are usually uncertain. The aim of this paper is to improve the control quality for the parallel robot by applying RBF neutron network. Firstly, the movement equations of Rostock Delta robot are established as differential–algebraic systems of equations with redundant generalized coordinates. Then, the stableness of the control method based on sliding mode control law using neural network is proved. Finally, the error in tracking control of a specific Rostock Delta robot is simulated by using this method. 2021-09-09T10:36:53Z 2021-09-09T10:36:53Z 2021 Article https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 https://dlib.phenikaa-uni.edu.vn/handle/PNK/2686 https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 10.1007/978-981-15-7527-3_59 en SpringerLink |
| institution |
Digital Phenikaa |
| collection |
Digital Phenikaa |
| language |
English |
| topic |
Parallel robot Sliding mode control |
| spellingShingle |
Parallel robot Sliding mode control Vu Le Huy Nguyen Dinh Dzung Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| description |
Since parallel robots are the multibody systems with closed-loop structures, their movement equations usually are in the complex form of redundant coordinates and their dynamics parameters are usually uncertain. The aim of this paper is to improve the control quality for the parallel robot by applying RBF neutron network. Firstly, the movement equations of Rostock Delta robot are established as differential–algebraic systems of equations with redundant generalized coordinates. Then, the stableness of the control method based on sliding mode control law using neural network is proved. Finally, the error in tracking control of a specific Rostock Delta robot is simulated by using this method. |
| format |
Article |
| author |
Vu Le Huy Nguyen Dinh Dzung |
| author_facet |
Vu Le Huy Nguyen Dinh Dzung |
| author_sort |
Vu Le Huy |
| title |
Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| title_short |
Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| title_full |
Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| title_fullStr |
Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| title_full_unstemmed |
Tracking Control of Parallel Robot Manipulators Using RBF Neural Network |
| title_sort |
tracking control of parallel robot manipulators using rbf neural network |
| publisher |
SpringerLink |
| publishDate |
2021 |
| url |
https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 https://dlib.phenikaa-uni.edu.vn/handle/PNK/2686 https://link.springer.com/chapter/10.1007/978-981-15-7527-3_59 |
| _version_ |
1751856261341642752 |
| score |
8.891787 |