Neural Network Force Control of a Spherical Parallel Wrist
Issue Date
2017Keywords
agile eyeforce control
neural network
robotics
self organizing body schema
pherical parallel mechanism
Advisor
Enikov, Eniko T.Metadata
Show full item recordPublisher
The University of Arizona.Rights
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.Abstract
This thesis introduces an orienting mechanism and control system for the purpose of eye tonometry. The design is based on a 3RRR spherical parallel manipulator architecture. The end-effector is mounted with a triad of force sensing elements. Presented in this paper is a unique approach to force control based on an artificial neural network. The mechanism generates movements to collect data about its tactile environment ultimately generating a path to the force sensors' equilibrium point.Type
textElectronic Thesis
Degree Name
M.S.Degree Level
mastersDegree Program
Graduate CollegeMechanical Engineering