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


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



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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