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Predictive Functional Control of a Parallel Robot

Abstract : This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed torque control and PID control strategies are compared in complex machining tasks trajectories. Tracking performance and disturbance rejection are enlightened.
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Submitted on : Wednesday, October 11, 2006 - 7:51:14 AM
Last modification on : Tuesday, September 6, 2022 - 4:52:00 PM
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Oscar Andrès Vivas, Philippe Poignet. Predictive Functional Control of a Parallel Robot. Control Engineering Practice, Elsevier, 2005, Control Applications of Optimisation, 13 (7), pp.863-874. ⟨10.1016/j.conengprac.2004.10.001⟩. ⟨lirmm-00105300⟩



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