APPLICATION OF NEURAL NETWORK TO CONTROL OF PARALLEL ROBOT

Abstract

The paper presents the control algorithm of the parallel robot arm using the neural network. With the proposed algorithm, the robot arm is regulated to adapt to the change in different working conditions when the proportional-integral-derivative (PID) controller gives some limitations. The simulation results using Matlab/Simulink and experimental results based on chip STM32F407VGT6 have shown the proposed control algorithm gives better performance, compared with the conventional PID control.

Keywords: PID control, neural network, parallel robot, serial robot, pneumatic actuators.