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 Model Based Predictive Control of a Fully Parallel Robot Oscar Andrès Vivas 121258-0 Philippe Poignet 16f59f61a4f301df6eb6c8e69db9b7f8 lirmm.fr philippe-poignet 5304 22396-5304 https://www.idref.fr/081918011 https://orcid.org/0000-0003-3574-4387 Christine Carvalho De Matos 10103945d6df12b14430343989bb0f6f lirmm.fr 2008-04-03 08:12:13 2003 2025-08-13 03:10:18 2008-04-03 10:22:54 2003 2008-04-03 contributor Christine Carvalho De Matos 10103945d6df12b14430343989bb0f6f lirmm.fr CCSD lirmm-00269468 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269468 vivas:lirmm-00269468 <i>SYROCO: Symposium on Robot Control</i>, 2003, Wroclaw, Poland. pp.277-282 SYROCO: Symposium on Robot Control, 2003, Wroclaw, Poland. pp.277-282 HAL Authorization CNRS - Centre national de la recherche scientifique Conception et commande de robots pour la manipulation Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Test DEXTER Université de Montpellier (2015-2021) International No No Yes Yes Model Based Predictive Control of a Fully Parallel Robot Oscar Andrès Vivas 121258-0 Philippe Poignet 16f59f61a4f301df6eb6c8e69db9b7f8 lirmm.fr philippe-poignet 5304 22396-5304 https://www.idref.fr/081918011 https://orcid.org/0000-0003-3574-4387 7th IFAC Symposium on Robot Control SYROCO: Symposium on Robot Control 2003 Wroclaw Poland 277-282 2003 English robustness performances parallel robots Model based predictive control Computer Science [cs]/Robotics [cs.RO] Conference papers Conference papers Conference papers

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.

 139590827 0000000405990488 199111950H https://ror.org/013yean28 Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier LIRMM 1995-01-01 2021-12-31
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https://www.lirmm.fr Robotique médicale et mécanismes parallèles DEXTER 2021-12-31
LIRMM, 161 rue Ada, 34000 Montpellier
https://www.lirmm.fr/equipes/DEXTER/ 0000000120970141 https://ror.org/051escj72 Université de Montpellier UM 2021-12-31
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http://www.umontpellier.fr/ 02636817X 0000000122597504 https://ror.org/02feahw73 Centre National de la Recherche Scientifique CNRS 1939-10-19
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