TY - GEN

T1 - A 3-PRS parallel manipulator control based on neural network

AU - Xu, Qingsong

AU - Li, Yangmin

PY - 2007/12/24

Y1 - 2007/12/24

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.

UR - http://www.scopus.com/inward/record.url?scp=37249044695&partnerID=8YFLogxK

M3 - Conference article published in proceeding or book

SN - 9783540723820

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 757

EP - 766

BT - Advances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings

T2 - 4th International Symposium on Neural Networks, ISNN 2007

Y2 - 3 June 2007 through 7 June 2007

ER -