Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations With Load Changes

Abstract : This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations. This controller is compared experimentally with a dual-space feedforward controller (which may have good performances for specific cases, but has crucial losses of performance when there is any operational change (such as a change of load)), for a pick-and-place task with accelerations of 30G (without payload) and 20G (with a payload of 200g). The objective of this paper is to show that the proposed dual-space adaptive controller not only keeps a very good performance independently of the operational case, but also has a better performance than the dual-space feedforward controller even when this last one is best configured to the given case.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. IEEE, pp.253-258, 2012, 〈10.1109/ICRA.2012.6224597〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00715913
Contributeur : Martine Peridier <>
Soumis le : lundi 9 juillet 2012 - 14:57:11
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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Guilherme Sartori Natal, Ahmed Chemori, François Pierrot. Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations With Load Changes. ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. IEEE, pp.253-258, 2012, 〈10.1109/ICRA.2012.6224597〉. 〈lirmm-00715913〉

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