Design and Experimentation of a Neural Network Controller for a Spherical Parallel Robot

Donatello Tina, Luca Carbonari, Massimo Callegari

2012

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.

Paper Citation

in Harvard Style

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, pages 250-255. DOI: 10.5220/0004047602500255

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Tina D.
AU - Carbonari L.
AU - Callegari M.
PY - 2012
SP - 250
EP - 255
DO - 10.5220/0004047602500255