Precise Tracking Control of Parallel Robot using Artificial Neural Network
Year: 1999
Type: article
Abstract: This paper presents a precise tracking control scheme for the proposed parallel robot using artificial neural network. This control scheme is composed of three feedback controllers and one feedforward controller. Conventional PD controller and artificial neural network are used as feedback and feedforward controller respectively. A backpropagation learning strategy is applied to the training of artificial neural network, and PD controller outputs are used as target outputs. The PD controllers are designed at the robot dynamics based on inter-relationship between active joints and moving platform. Feedback controllers insure the total stability of system, and feedforward controller generates the control signal for trajectory tracking. The precise tracking performance of proposed control scheme is proved by computer simulation.
Authors: Nak-Yun Song, Whang Cho
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W2991816582