An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot

An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot
复制标题

Delta并联机器人B样条神经网络智能补偿

DOI：
--
复制
发表时间：
2019
期刊：
International Conference on Control, Decision and Information Technologies
影响因子：
--
通讯作者：
J. H. Arroyo
J. H. Arroyo
中科院分区：
--
文献类型：
--
作者：
J. M. Escorcia;H. Aguilar;O. Aguilar;A. Chemori;J. H. Arroyo

文献摘要

被引文献

相似文献

采用带智能补偿的PD控制器，解决了Delta三自由度并联机器人的轨迹跟踪问题。该控制器采用人工B-Spline神经网络作为前馈补偿项。为了评估所提出的控制器的性能，在两种不同的场景下进行了数值仿真，以了解其相对于简单PD控制器的有效性。
In this paper a PD controller with intelligent compensation is used to solve the problem of tracking trajectories for a Delta Parallel Robot with three degrees of freedom. This controller uses an artificial B-Spline neural network as a feedforward compensation term. To evaluate the proposed controller performance some numerical simulations under two different scenarios have been carried out in order to know its effectiveness respect to a simple PD controller.