A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2012

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).
Fichier principal
Vignette du fichier
Sartori_PID2012.pdf (753.86 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-00723937 , version 1 (15-08-2012)

Identifiers

  • HAL Id : lirmm-00723937 , version 1

Cite

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⟩
362 View
300 Download

Share

Gmail Facebook X LinkedIn More