A 3-PRS Parallel Manipulator Control Based on Neural Network

Authors:
Qingsong Xu;Yangmin Li
Affiliations:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira, Taipa, Macao SAR, P.R. China;Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira, Taipa, Macao SAR, P.R. China
Venue:
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
Year:
2007

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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.