Radial basis function neural network control for parallel spatial robot

Nguyen Hong Quang (Thai Nguyen University of Technology)
Nguyen Van Quyen (Hanoi University of Science and Technology)
Nguyen Nhu Hien (Thai Nguyen University of Technology)

TELKOMNIKA (Telecommunication Computing Electronics and Control)
Vol 18, No 6: December 2020

The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally,  numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example.