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Conference Papers Year : 2019

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

Abstract

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.

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Dates and versions

lirmm-02118344 , version 1 (03-05-2019)

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Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Humbérto Arroyo-Núñez. An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot. CoDIT 2019 - 6th International Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France. pp.361-366, ⟨10.1109/CoDIT.2019.8820472⟩. ⟨lirmm-02118344⟩
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