Predictive Functional Control of a Parallel Robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Journal Articles Control Engineering Practice Year : 2005

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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Dates and versions

lirmm-00105300 , version 1 (11-10-2006)

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Oscar Andrès Vivas, Philippe Poignet. Predictive Functional Control of a Parallel Robot. Control Engineering Practice, 2005, Control Applications of Optimisation, 13 (7), pp.863-874. ⟨10.1016/j.conengprac.2004.10.001⟩. ⟨lirmm-00105300⟩
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