Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2019/6478506/figures/6478506.fig.0014a.svgz" name="6478506.fig.0014a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>WDPR-8 prototype platform</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2019/6478506/figures/6478506.fig.0014b.svgz" name="6478506.fig.0014b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>IMAC controller</td></tr></table>

<div>WDPR-8 prototype platform and IMAC controller.</div>

Mathematical Problems in Engineering

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Figure 14

Figure 14: Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments 