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

Table 1

Position of P_i and B_i ().

Symbol	Coordinate point (mm)	Symbol	Coordinate point (mm)
P1	(-30,19,-19)	B1	(472,815,-129)
P2	(-30,-19,-19)	B2	(515,-772,-129)
P3	(17,-53,-5)	B3	(-472,-815,-129)
P4	(17,53,-5)	B4	(-515,772,-129)
P5	(17,53,5)	B5	(-472,815,-90)
P6	(-30,19,-19)	B6	(515,772,-90)
P7	(-30,-19,-19)	B7	(472,-815,-90)
P8	(17,-53,5)	B8	(-515,-772,-90)