Adaptive neural network control of hexapod for aerospace application

摘要

This research is a part of the work implemented by BSTU "Voenmeh" under the financial support of the Ministry of Education and Science of the Russian Federation for design and development of a precision mechanism with the parallel kinematics called "Hexapod". Based on the Stewart platform Hexapod as a positioning system with the parallel kinematics has many advantages in comparison with the serial kinematics mechanism. In engineering applications, very precise motion of parallel manipulators to track the desired trajectory has received a great deal of attention. The inverse kinematics problem of the hexapod is described, on the basis of which the desired trajectories are formed. The simulation model of hexapod dynamics implemented in the Matlab Simulink environment is shown. In this paper provides adaptive neural networks algorithm of the hexapods control with on-line tuning synaptic weights of network. Our results show an advantage of applying of the investigated algorithm in the problem of tracking control of the space applications hexapod.