An online self gain tuning computed torque controller for a five-bar manipulator

Abstract

Parallel 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. © 2011 Springer-Verlag.