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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Control Engineering Practice, Elsevier, 2005, Control Applications of Optimisation, 13 (7), pp.863-874. 〈10.1016/j.conengprac.2004.10.001〉
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Soumis le : mercredi 11 octobre 2006 - 07:51:14
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07
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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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