| Autor: |
K. V. Varalakshmi, J. Srinivas |
| Rok vydání: |
2016 |
| Předmět: |
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| Zdroj: |
Lecture Notes in Mechanical Engineering ISBN: 9788132227380 |
| Popis: |
This paper presents modelling and control of highly nonlinear dynamics parallel manipulator system using neural network-based gain tuning technique in a model-based feedback linearization controller. Adaptive gain tuning approach is implemented for conventional computed torque control scheme. The proposed controller has very simple structure and takes little computational time while tracking a trajectory. A feed forward model is implemented to achieve the gains corresponding to the errors and their derivatives. The results are illustrated for a circular trajectory. Simulation results for a 3-RRR planar parallel manipulator show that the intelligent gain tuning technique has better performance than conventional computed torque control in terms of controllability and stability. An experimental analysis is presented for straight line trajectory. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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