A 3-PRS parallel manipulator control based on neural network

Qingsong Xu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)

Abstract

Due to the time-consuming calculation for the forward kinematics of a 3-PRS (prismatic-revolute-spherical) parallel manipulator, neither the kinematic nor dynamic control algorithm can be implemented on real time. To deal with such problem, the forward kinematics is solved by means of artificial neural network (NN) approach in this paper. Based on the trained NN, the kinematic control of the manipulator is carried out by resorting to an ordinary control algorithm. Simulation results illustrate that the NN can approximate the forward kinematics perfectly, which leads to ideal control results of the parallel manipulator.
Original languageEnglish
Title of host publicationAdvances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings
Pages757-766
Number of pages10
EditionPART 1
Publication statusPublished - 24 Dec 2007
Externally publishedYes
Event4th International Symposium on Neural Networks, ISNN 2007 - Nanjing, China
Duration: 3 Jun 20077 Jun 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume4491 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference4th International Symposium on Neural Networks, ISNN 2007
CountryChina
CityNanjing
Period3/06/077/06/07

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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