A 3-PRS parallel manipulator control based on neural network

Qingsong Xu; Yangmin Li

A 3-PRS parallel manipulator control based on neural network

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

11 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 language	English
Title of host publication	Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings
Pages	757-766
Number of pages	10
Edition	PART 1
Publication status	Published - 24 Dec 2007
Externally published	Yes
Event	4th International Symposium on Neural Networks, ISNN 2007 - Nanjing, China Duration: 3 Jun 2007 → 7 Jun 2007

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	4491 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	4th International Symposium on Neural Networks, ISNN 2007
Country/Territory	China
City	Nanjing
Period	3/06/07 → 7/06/07

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Cite this

Xu, Q., & Li, Y. (2007). A 3-PRS parallel manipulator control based on neural network. In Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings (PART 1 ed., pp. 757-766). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4491 LNCS, No. PART 1).

Xu, Qingsong ; Li, Yangmin. / A 3-PRS parallel manipulator control based on neural network. Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. PART 1. ed. 2007. pp. 757-766 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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title = "A 3-PRS parallel manipulator control based on neural network",

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.",

author = "Qingsong Xu and Yangmin Li",

year = "2007",

month = dec,

day = "24",

language = "English",

isbn = "9783540723820",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

number = "PART 1",

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booktitle = "Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings",

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Xu, Q & Li, Y 2007, A 3-PRS parallel manipulator control based on neural network. in Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 4491 LNCS, pp. 757-766, 4th International Symposium on Neural Networks, ISNN 2007, Nanjing, China, 3/06/07.

A 3-PRS parallel manipulator control based on neural network. / Xu, Qingsong; Li, Yangmin.
Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings. PART 1. ed. 2007. p. 757-766 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4491 LNCS, No. PART 1).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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N2 - 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.

AB - 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.

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A 3-PRS parallel manipulator control based on neural network

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ASJC Scopus subject areas

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