Predictive Functional Control for a Parallel Robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2003

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.
Fichier principal
Vignette du fichier
D151.PDF (321.65 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-00191950 , version 1 (26-11-2007)

Identifiers

Cite

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⟩
142 View
872 Download

Altmetric

Share

Gmail Facebook X LinkedIn More