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Authors: Donatello Tina ; Luca Carbonari and Massimo Callegari

Affiliation: Polytechnic University of Marche, Italy

Keyword(s): Neural Networks, Robot Control, Parallel Kinematics Machines.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Neural Networks Based Control Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The paper deals with a neural network control for the gravity compensation of a parallel kinematics robot. The network has been designed in a simulation environment then it has been implemented in robot’s controller by using an FPGA device that is part of an embedded system. After the training phase, several experiments have been performed on the prototype manipulator and the related datasets have been collected and elaborated. In the end, a comparative analysis has shown the improved performance of the neural network controller with respect to the inverse dynamics one, mainly due to the well-known difficulties in deriving explicit models of friction and play in the joints.

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Paper citation in several formats:
Tina, D.; Carbonari, L. and Callegari, M. (2012). Design and Experimentation of a Neural Network Controller for a Spherical Parallel Robot. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 250-255. DOI: 10.5220/0004047602500255

@conference{icinco12,
author={Donatello Tina. and Luca Carbonari. and Massimo Callegari.},
title={Design and Experimentation of a Neural Network Controller for a Spherical Parallel Robot},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={250-255},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004047602500255},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Design and Experimentation of a Neural Network Controller for a Spherical Parallel Robot
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Tina, D.
AU - Carbonari, L.
AU - Callegari, M.
PY - 2012
SP - 250
EP - 255
DO - 10.5220/0004047602500255
PB - SciTePress