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.
Domains
Robotics [cs.RO]Origin | Files produced by the author(s) |
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