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-preview.hindawi.com/articles/mpe/volume-2019/6478506/figures/6478506.fig.009a.svgz" name="6478506.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Control input of motors 1-4</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/6478506/figures/6478506.fig.009b.svgz" name="6478506.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Control input of motors 5-8</td></tr></table>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Adaptive PD Control Based on RBF Neural Network for a Wire-Driven Parallel Robot and Prototype Experiments 