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Predictive Functional Control for a Parallel Robot

Abstract : This paper presents an efficient application of a model based predictive control in parallel mechanisms. A predictive functional control 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. The tracking performances are enlightened.
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Submitted on : Monday, November 26, 2007 - 11:43:37 AM
Last modification on : Friday, October 22, 2021 - 3:07:20 PM
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Oscar Andrès Vivas, Philippe Poignet, François Pierrot. Predictive Functional Control for a Parallel Robot. IROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.2785-2790, ⟨10.1109/IROS.2003.1249292⟩. ⟨lirmm-00191950⟩



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