A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others]
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 preci...
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Nguyen Quang Hoang
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| Truy cập trực tuyến: | http://elib.ntt.edu.vn/Opac/DmdInfo.aspx?dmd_id=21953 |
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ntt-http:--elib.ntt.edu.vn-Opac-DmdInfo.aspx?dmd_id=21953 |
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Trường Đại học Nguyễn Tất Thành |
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Kipos |
| language |
vie |
| topic |
Sliding mode control Computed-torque contro Delta parallel robot Neural networkcontrol |
| spellingShingle |
Sliding mode control Computed-torque contro Delta parallel robot Neural networkcontrol Nguyen Quang Hoang Nguyen Van Khang Nguyen Dinh Dung A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| description |
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. |
| author2 |
Nguyen Quang Hoang |
| author_facet |
Nguyen Quang Hoang Nguyen Quang Hoang Nguyen Van Khang Nguyen Dinh Dung |
| format |
text |
| author |
Nguyen Quang Hoang Nguyen Van Khang Nguyen Dinh Dung |
| author_sort |
Nguyen Quang Hoang |
| title |
A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| title_short |
A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| title_full |
A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| title_fullStr |
A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| title_full_unstemmed |
A comparison study of some control methods for delta spatial parallel robot / Nguyen Van Khang, Nguyen Quang Hoang, ... [and others] |
| title_sort |
comparison study of some control methods for delta spatial parallel robot / nguyen van khang, nguyen quang hoang, ... [and others] |
| publisher |
Nguyen Quang Hoang |
| url |
http://elib.ntt.edu.vn/Opac/DmdInfo.aspx?dmd_id=21953 |
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