Abstract
Due to the time-consuming calculation for the forward kinematics of a 3-PRS (prismatic-revolute-spherical) parallel manipulator, neither the kinematic nor dynamic control algorithm can be implemented on real time. To deal with such problem, the forward kinematics is solved by means of artificial neural network (NN) approach in this paper. Based on the trained NN, the kinematic control of the manipulator is carried out by resorting to an ordinary control algorithm. Simulation results illustrate that the NN can approximate the forward kinematics perfectly, which leads to ideal control results of the parallel manipulator.
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Xu, Q., Li, Y. (2007). A 3-PRS Parallel Manipulator Control Based on Neural Network. In: Liu, D., Fei, S., Hou, ZG., Zhang, H., Sun, C. (eds) Advances in Neural Networks – ISNN 2007. ISNN 2007. Lecture Notes in Computer Science, vol 4491. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72383-7_89
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DOI: https://doi.org/10.1007/978-3-540-72383-7_89
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