TELKOMNIKA Telecommunication, Computing, Electronics and Control
Radial basis function neural network control for parallel spatial robot
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Radial basis function neural network control for parallel spatial robot
Radial basis function neural network control for parallel spatial robot
Subject
Inverse dynamics controller, Kronecker product, Numerical simulation, Parallel robot manipulator, RBF neural network control
Description
The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally, numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example.
Creator
Nguyen Hong Quang, Nguyen Van Quyen, Nguyen Nhu Hien
Source
DOI: 10.12928/TELKOMNIKA.v18i6.14913
Publisher
Universitas Ahmad Dahlan
Date
October 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Nguyen Hong Quang, Nguyen Van Quyen, Nguyen Nhu Hien, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Radial basis function neural network control for parallel spatial robot,” Repository Horizon University Indonesia, accessed April 26, 2025, https://repository.horizon.ac.id/items/show/4158.
Radial basis function neural network control for parallel spatial robot,” Repository Horizon University Indonesia, accessed April 26, 2025, https://repository.horizon.ac.id/items/show/4158.