Abstract
Parallel manipulators have advantages like high accuracy, high stiffness, high payload capability, low moving inertia, and so on. This paper presents the problems of control the five-bar manipulators using computed torque control method. In order to improve the control performance, an online self gain tuning method using neural networks is proposed for gain tuning of computed torque controller. Simulation results show the effectiveness of the proposed method in comparison with the traditional computed torque control method.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ghorbel, F.H., et al.: Modeling and Set Point Control of Closed-chain Mechanisms: Theory and Experiment. IEEE Transactions on Control Systems Technology 8, 801–815 (2000)
Ouyang, P.R., et al.: Nonlinear PD Control for Trajectory Tracking with Consideration of The Design for Control Methodology. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2002, vol. 4, pp. 4126–4131 (2002)
Shang, W., Cong, S.: Nonlinear Computed Torque Control for A High-speed Planar Parallel Manipulator. Mechatronics 19, 987–992 (2009)
Shang, W., et al.: Active Joint Synchronization Control for A 2-DOF Redundantly Actuated Parallel Manipulator. IEEE Transactions on Control Systems Technology 17, 416–423 (2009)
Hui, C., et al.: Dynamics and Control of Redundantly Actuated Parallel Manipulators. IEEE/ASME Transactions on Mechatronics 8, 483–491 (2003)
Codourey, A.: Dynamic Modeling of Parallel Robots for Computed-Torque Control Implementation. The International Journal of Robotics Research 17, 1325–1336 (1998)
Yu, H.: Modeling and Control of Hybrid Machine Systems — A Five-bar Mechanism Case. International Journal of Automation and Computing 3, 235–243 (2006)
Yiu, Y.K., Li, Z.X.: PID and Adaptive Robust Control of A 2-DOF Over-actuated Parallel Manipulator for Tracking Different Trajectory. In: Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, 2003, vol. 3, pp. 1052–1057 (2003)
Yang, Z., et al.: Motor-mechanism Dynamic Model Based Neural Network Optimized Computed Torque Control of A High Speed Parallel Manipulator. Mechatronics 17, 381–390 (2007)
Llama, M.A., et al.: Stable Computed-torque Control of Robot Manipulators Via Fuzzy Self-tuning. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 30, 143–150 (2000)
Yamada, T., Yabuta, T.: Neural Network Controller Using Autotuning Method for Nonlinear Functions. IEEE Transactions on Neural Networks 3, 595–601 (1992)
Thanh, T.U.D.C., Ahn, K.K.: Nonlinear PID Control to Improve The Control Performance of 2 axes Pneumatic Artificial Muscle Manipulator Using Neural Network. Mechatronics 16, 577–587 (2006)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Le, T.D., Kang, HJ., Suh, YS. (2011). An Online Self Gain Tuning Computed Torque Controller for A Five-Bar Manipulator. In: Huang, DS., Gan, Y., Bevilacqua, V., Figueroa, J.C. (eds) Advanced Intelligent Computing. ICIC 2011. Lecture Notes in Computer Science, vol 6838. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24728-6_73
Download citation
DOI: https://doi.org/10.1007/978-3-642-24728-6_73
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-24727-9
Online ISBN: 978-3-642-24728-6
eBook Packages: Computer ScienceComputer Science (R0)