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.
Domains
Automatic| Origin | Files produced by the author(s) |
|---|
Loading...