Neural network control of a parallel robot

Author

Wang, Hongrui ; Xue, Chunna ; Gruver, William A.

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2934

Abstract

This paper presents a method for obtaining the inverse kinematics of a six degree of freedom error compensation device for a robotic manipulator. The error compensation device is based on a parallel link structure having two circular platforms connected by six links, each with double spherical joints. A three layer backpropagation neural network algorithm was applied to compute the kinematics and control the mechanism. Simulation results based on the proposed technique are described

Keywords

backpropagation; error compensation; manipulator kinematics; multilayer perceptrons; neurocontrollers; double spherical joints; inverse kinematics; neural network control; parallel link structure; parallel robot; robotic manipulator; six degree of freedom error compensation device; three layer backpropagation neural network algorithm; Backpropagation algorithms; Computational modeling; End effectors; Error compensation; Fasteners; Grippers; Kinematics; Manipulators; Neural networks; Parallel robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538229

Filename

538229