Trajectory control of a laparoscopic 3-PUU parallel manipulator based on neural network in SIMSCAPE SIMULINK environment

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...

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Bibliographic Details
Main Authors: Iham F. Zidane, Yasmin Khattab, Mohamed El-Habrouk, Sohair Rezeka
Format: Article
Language:English
Published: Elsevier 2022-12-01
Series:Alexandria Engineering Journal
Subjects:
Laparoscopic Manipulator
Parallel Manipulator
Kinematic Analysis
Neural Network
Feed-forward
Closed-loop Control
Online Access:http://www.sciencedirect.com/science/article/pii/S1110016822001910

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