Adaptive Extended Computed Torque Control of 3 DOF Planar Parallel Manipulators Using Neural Network and Error Compensator

摘要

In this paper, an adaptive extended computed torque controller is proposed for trajectory tracking of 3 degree-of-freedom planar parallel manipulators. The dynamic model, including the modeling errors and uncertainties, is established in the joint space of 3 degree-of-freedom planar parallel manipulators. Based on the dynamic model, an adaptive extended computed torque control scheme is proposed in which a feed-forward neural network is combined with error compensators for adaptive compensating the unknown modeling errors and uncertainties of the parallel manipulators. The weights of the neural network are based on sliding functions and self-tuned online during the tracking control of system without any offline training phase. Using the combination of Sim Mechanics and Solid works, the comparative simulations are conducted for verifying the efficiency of the proposed control scheme.