NEURAL CONTROL OF A PARALLEL ROBOT – DESIGN AND IMPLEMENTATION IN FPGA

The paper presents design and implementation of neural controller for 3-DOF parallel robot for milling against a background of the developed mechatronic procedure of parallel robots design. The controller is based on neural model of the inverse dynamics of the manipulator, trained on data collected with the use of a computed torque stabilizing controller. After successful virtual and fast prototyping, the controller was implemented in a FPGA with a soft-processor. Hardware-Software Co-design allowed for exploration of possible control algorithm realisations.