Trajectory control of a laparoscopic 3-PUU parallel manipulator based on neural network in SIMSCAPE SIMULINK environment
This paper presents the modeling and control process of recently developed manipulator with 3 limbs having prismatic-universal-universal (3-PUU) joints. It has 3 degrees of freedom (3-DOF), consisting of 2 rotational DOFs and 1 translational DOF (2R1T). To avoid the computational complexity of solvi...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
Elsevier
2022-12-01
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Series: | Alexandria Engineering Journal |
Subjects: | |
Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016822001910 |