Data-driven control of a five-bar parallel robot with compliant joints.
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| Title: | Data-driven control of a five-bar parallel robot with compliant joints. |
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| Authors: | Ramírez-Martínez, Angel1 (AUTHOR) angel.ramirez@tec.mx, Chong-Quero, J. Enrique1 (AUTHOR), Cervantes-Culebro, Héctor1 (AUTHOR), Cruz-Villar, Carlos A.2 (AUTHOR) |
| Source: | Journal of Intelligent & Fuzzy Systems. Feb2026, Vol. 50 Issue 2, p466-472. 7p. |
| Subjects: | Compliant mechanisms, Parallel robots, Robot dynamics, Feedforward control systems, Tracking control systems, Feedforward neural networks, Root-mean-squares |
| Abstract: | This paper presents a data-driven control approach for a five-bar robot with compliant joints. The robot consists of a parallel mechanism with compliant elements that introduce uncertainties in modeling and control. To address this fact, it is implemented a model-less data-driven controller based on a Feedforward Neural Network Module (FNNM) that identifies the inverse dynamics of the robot. The FNNM is incorporated into a coordination of Feedforward Control Method (CFCM) to achieve precise trajectory tracking. Experiments compare the compliant joints robot to a bearing-joint robot performing pick-and-place tasks from 0.15 to 3.15 Hz. Results show the compliant robot maintaining trajectory tracking up to 1.25 Hz with a Root Mean Square Error (RMSE) of 9.02 mm. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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| Abstract: | This paper presents a data-driven control approach for a five-bar robot with compliant joints. The robot consists of a parallel mechanism with compliant elements that introduce uncertainties in modeling and control. To address this fact, it is implemented a model-less data-driven controller based on a Feedforward Neural Network Module (FNNM) that identifies the inverse dynamics of the robot. The FNNM is incorporated into a coordination of Feedforward Control Method (CFCM) to achieve precise trajectory tracking. Experiments compare the compliant joints robot to a bearing-joint robot performing pick-and-place tasks from 0.15 to 3.15 Hz. Results show the compliant robot maintaining trajectory tracking up to 1.25 Hz with a Root Mean Square Error (RMSE) of 9.02 mm. [ABSTRACT FROM AUTHOR] |
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| ISSN: | 10641246 |
| DOI: | 10.3233/JIFS-219364 |
