|
DDC
| 621 | |
Nhan đề
| A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] | |
Mô tả vật lý
| 11 p. | |
Tóm tắt
| A comparison between three methods applied to parallel robot control namely: computed torque controller, sliding mode control and sliding mode control using neural networks is presented in this paper. The simulation results show that PD control method is only accurate when model parameters are precisely identified. In case of uncertain parameters, sliding mode and neural network sliding mode control methods are applied instead. Three controllers are implemented in Matlab for simulation. The results show that the control quality is improved by using the neural network sliding mode control method in comparison with two others. | |
Từ khóa tự do
| Sliding mode control | |
Từ khóa tự do
| Computed-torque contro | |
Từ khóa tự do
| Delta parallel robot | |
Từ khóa tự do
| Neural networkcontrol | |
Tác giả(bs) CN
| Nguyen Quang Hoang | |
Tác giả(bs) CN
| Nguyen Van Khang | |
Tác giả(bs) CN
| Nguyen Dinh Dung | |
Nguồn trích
| Tạp chí Tin học và Điều khiển học = Journal of Computer Science And Cybernetics 2015P. 71-81
Số: 1
Tập: 31 |
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| 001 | 21953 |
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| 002 | 9 |
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| 004 | 720EAE31-1B79-4E89-A515-2A0EE1D0A78C |
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| 005 | 202006292122 |
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| 008 | 081223s vm| vie |
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| 009 | 1 0 |
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| 039 | |y20200629212249|zthaopt |
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| 082 | |a621 |
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| 245 | |aA comparison study of some control methods for delta spatial parallel robot / |cNguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
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| 300 | |a11 p. |
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| 520 | |aA comparison between three methods applied to parallel robot control namely: computed torque controller, sliding mode control and sliding mode control using neural networks is presented in this paper. The simulation results show that PD control method is only accurate when model parameters are precisely identified. In case of uncertain parameters, sliding mode and neural network sliding mode control methods are applied instead. Three controllers are implemented in Matlab for simulation. The results show that the control quality is improved by using the neural network sliding mode control method in comparison with two others. |
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| 653 | |aSliding mode control |
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| 653 | |aComputed-torque contro |
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| 653 | |aDelta parallel robot |
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| 653 | |aNeural networkcontrol |
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| 700 | |aNguyen Quang Hoang |
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| 700 | |aNguyen Van Khang |
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| 700 | |aNguyen Dinh Dung |
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| 773 | |tTạp chí Tin học và Điều khiển học = Journal of Computer Science And Cybernetics |d2015|gP. 71-81|v31|i1 |
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| 890 | |c1|a0|b0|d6 |
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