Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments
Résumé
This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance comparisons, a conventional Proportional-Derivative (PD) controller has also been implemented. In this context, the experimental testbed is not equipped with velocity sensors. Therefore, a high-gain observer has been implemented to estimate the articular velocities. Real-time experiments show the performance improvements obtained by the proposed control approach in comparison to the conventional one.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
---|