Title :
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
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;
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
DOI :
10.1109/ICSMC.1995.538229
