Abstract
AbstractParallel manipulators have advantages like high accuracy, high stiffness, high payload capability, low moving inertia, and so on. This paper presents the problems of control the five-bar manipulators using computed torque control method. In order to improve the control performance, an online self gain tuning method using neural networks is proposed for gain tuning of computed torque controller. Simulation results show the effectiveness of the proposed method in comparison with the traditional computed torque control method.KeywordsFive-bar manipulatorComputed torque controllerOnline self gain tuningNeural network
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
