In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuro- adaptive control system is comprised of a computation controller and a robust ...controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.
The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work, in common available methods. There are some commercial exercise machines used ...for this purpose called rehabilitation systems. However, due to their insufficient motion freedom and prospect of being expensive, these machines have limited usage. Hence, it is clearly necessary that Mechatronic technologies should be used in this area. In this paper, an algorithm and an improved rule are presented for controlling a rehabilitation system of lower limbs which is implemented on a 6-Degree Of Freedom (DOF) Stewart parallel robot. Impedance control and adaptive control are used for this purpose. Estimation and optimization of control parameters will be done by artificial neural networks and genetic algorithms, respectively (intelligent strategy). Safety is guaranteed since some of controller parameters can be adapted under the stability conditions given by using Routh stability theory. Thereafter, the results of simulations are presented by defining a physiotherapy standard mode on a desired trajectory. MATLAB/SIMULINK is used for simulations. Finally, a comparative discussion between this strategy and common methods is devised.
Proces osposobljavanja mišića za normalne funkcije je skup i dugotrajan uz korištenje dostupnih metoda. Postoje komercijalni strojevi za tu svrhu koji se nazivaju sustavi za rehabilitaciju. Zbog ...njihove nedostatne slobode pokreta i visoke cijene takvi strojevi imaju ograničenu upotrebu. Stoga je jasno da je u području rehabilitiacije potrebno koristiti mehatroničke sustave. U ovom radu prikazan je algoritam i poboljšano pravilo za upravljanje rehabilitacijskog sustava za donje udove koji je implementiran na Stewart paralelnom robotu sa šest stupnjeva slobode. Pritom je korišteno upravljanje impedancijom i adaptivno upravljanje. Za estimaciju i optimiranje parametara upravljanja koriste se neuronske mreže i genetički algoritmi. Sigurnost je garantirana jer se neki parametri regulatora adaptiraju prema uvjetima stabilnosti koji su dobiveni korištenjem Ruthove teorije stabilnosti. Nakon toga, rezultati simulacija prikazani su definiranjem standardnog fizioterapijskog rada na željenoj trajektoriji. Za simulacije se koristi MATLAB/SIMULINK. Konačno, u radu je dana i usporedba predložene strategije s uobičajenim metodama.
U ovome redu predstavljen je neuro-adaptivni regulator za žično pogonjene paralelne robote. Robusni neuro-adaptivni regulator sastoji se od računalnog regulatora i robusnog regulatora. Računalni ...regulator koji sadrži estimator s neuronskom mrežom s radijalnom aktivacijskom funkcijom je glavni regulator u "on-line" metoda podešavanja parametara neuronske mreže za estimaciju dinamike sustava upravljanja. Efikasnost sustava adaptivnog, robusnog regulatora testirana je na na žično pogonjenom paralelnom robotu. Simulacijski rezultati pokazuju da se predloženim robusnim i adaptivnim regulatorom mogu dobiti zadovoljavajuće performance prilikom slijeđenja.
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