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A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments

Abstract : This paper deals with dual-space control of R4 redundantly actuated parallel manipulator for very high acceleration applications. This controller consists in a PID in the Cartesian space complied with a feedforward of the desired acceleration in both Cartesian and articular spaces for tracking performance improvements: models show that this "dual-space" control strategy is an e cient way to implement computed torque control. For comparison purposes, experiments were made with a Cartesian PID until 20G. Experimental results show that the proposed control scheme is considerably better than the PID in the Cartesian space, and that a good tracking performance could be achieved even for the very high acceleration of 40G (equivalent to more than 425 pick-and-place cycles per minute).
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00723937
Contributor : Ahmed Chemori <>
Submitted on : Wednesday, August 15, 2012 - 6:57:41 PM
Last modification on : Tuesday, December 17, 2019 - 2:10:58 AM
Long-term archiving on: : Friday, November 16, 2012 - 2:25:21 AM

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Guilherme Sartori Natal, Ahmed Chemori, Micaël Michelin, François Pierrot. A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments. PID'12: IFAC Conference on Advances in PID Control, Mar 2012, Brescia, Italy. pp.6. ⟨lirmm-00723937⟩

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