Kinematic Control of Double Pantograph Type Manipulator Using Neural Network

신경회로망을 이용한 더블 팬터그래프형 매니퓰레이터의 기구학적 제어

In general, pantograph type manipulators are used for carrying heavy payloads with positional accuracy. In this paper, a double pantograph type manipulator, activated by two slider joints, is studied for applying to file handing machine in atomic power plant. In order to realize the stable horizontal movement of a heavy fuel rod whit good positional accuracy, methods for allocating slider and finding constant joint rates are proposed. In addition, the static deflection of the proposed mechanism was studied using transfer-stiffness matrix method. A neural network control algorithm which compensates static deflections is explored with computer simulations.