Browsing by Author Nguyen Dinh Dzung
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The popular problems in robot are the inverse dynamics and forward dynamics, where the forward dynamics is necessary for simulation in the robot control methods, but it is quite complex for parallel robots. In this paper, the forward dynamics problem of t |
Since parallel robots are the multibody systems with closed-loop structures, their movement equations usually are in the complex form of redundant coordinates and their dynamics parameters are usually uncertain. The aim of this paper is to improve the control quality for the parallel robot by applying RBF neutron network. Firstly, the movement equations of Rostock Delta robot are established as differential–algebraic systems of equations with redundant generalized coordinates. Then, the stableness of the control method based on sliding mode control law using neural network is proved. Finally, the error in tracking control of a specific Rostock Delta robot is simulated by using this me... |
