Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments

Abstract : 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.
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Communication dans un congrès
IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. IEEE/RSJ, pp.2114-2119, 2009, 〈http://www.iros09.mtu.edu/〉. 〈10.1109/IROS.2009.5354083〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00429818
Contributeur : Ahmed Chemori <>
Soumis le : mercredi 4 novembre 2009 - 15:48:39
Dernière modification le : mardi 17 juillet 2018 - 15:54:03
Document(s) archivé(s) le : jeudi 17 juin 2010 - 18:01:01

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Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company. Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments. IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. IEEE/RSJ, pp.2114-2119, 2009, 〈http://www.iros09.mtu.edu/〉. 〈10.1109/IROS.2009.5354083〉. 〈lirmm-00429818〉

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