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

Jonatan Martín Escorcia-Hernández 1 Hipolito Aguilar-Sierra 1 Omar Aguilar-Mejía 2 Ahmed Chemori 3 José Arroyo-Núñez 1
1 UPT - Universidad Politecnica de Tulancingo [Mexico]
2 Universidad Popular Autónoma del Estado de Puebla
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Keywords : Trajectory tracking Learning systems Delta Parallel Robot
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Submitted on : Friday, May 3, 2019 - 7:10:59 AM
Last modification on : Monday, January 13, 2020 - 1:14:14 AM

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

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