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Model Based Predictive Control of a Fully Parallel Robot

Abstract : This paper deals with an efficient application of a model based predictive control in parallel machines. A receding horizon 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. The model based predictive control and the commonly used computed torque control strategies are compared. The tracking performances and the robustness with respect to external disturbances or model / robot mismatch, are enlightened.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269468
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:12:13 AM
Last modification on : Thursday, May 24, 2018 - 3:59:21 PM
Document(s) archivé(s) le : Friday, May 21, 2010 - 1:14:29 AM

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  • HAL Id : lirmm-00269468, version 1

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Oscar Andrès Vivas, Philippe Poignet. Model Based Predictive Control of a Fully Parallel Robot. SYROCO: Symposium on Robot Control, 2003, Wroclaw, Poland. pp.277-282. ⟨lirmm-00269468⟩

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