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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00429818
Contributor : Ahmed Chemori <>
Submitted on : Wednesday, November 4, 2009 - 3:48:39 PM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Long-term archiving on: Thursday, June 17, 2010 - 6:01:01 PM

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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: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2114-2119, ⟨10.1109/IROS.2009.5354083⟩. ⟨lirmm-00429818⟩

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