In:
Applied Mechanics and Materials, Trans Tech Publications, Ltd., Vol. 526 ( 2014-2), p. 351-356
Abstract:
The dissertation deals with some key issues relevant to the controller design and digital design method for a newly patented high-speed parallel manipulator. Meanwhile, a Virtual Prototyping based co-simulation platform is also established according to the ADAMS and Matlab/Simulink software. In order to promote the ability that the manipulator traces the prescribed trajectory, a model based computed torque controller is described in detail, and a neural network algorithm is also used to optimize controller parameters real-timely under the consideration of systematic nonlinear, modeling error and outer disturbance. The neural network based computed torque controller increases the robustness of system dramatically.
Type of Medium:
Online Resource
ISSN:
1662-7482
DOI:
10.4028/www.scientific.net/AMM.526
DOI:
10.4028/www.scientific.net/AMM.526.351
Language:
Unknown
Publisher:
Trans Tech Publications, Ltd.
Publication Date:
2014
detail.hit.zdb_id:
2251882-4
Permalink
