Trajectory Tracking Control of a Redundantly Actuated Parallel Robot Using Diagonal Recurrent Neural Network

@article{Li2009TrajectoryTC,
  title={Trajectory Tracking Control of a Redundantly Actuated Parallel Robot Using Diagonal Recurrent Neural Network},
  author={Yan Li and Yong Wang},
  journal={2009 Fifth International Conference on Natural Computation},
  year={2009},
  volume={2},
  pages={292-296}
}
Parallel robots have good performance in terms of rigidity, accuracy and dynamic characteristics. In this paper, a 2-DOF redundantly actuated parallel robot is taken as the object of study. Diagonal recurrent neural network (DRNN) is known for its dynamic mapping and fit for nonlinear dynamical systems. A neural network PID controller which is composed of the conventional PID control and the DRNN neural network is proposed. The DRNN neural network makes up the deficiency of the conventional PID… CONTINUE READING
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