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).
Type de document :
Communication dans un congrès
PID'12: IFAC Conference on Advances in PID Control, Mar 2012, Brescia, Italy. pp.6, 2012, 〈http://pid12.ing.unibs.it/〉
Liste complète des métadonnées

Littérature citée [26 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00723937
Contributeur : Ahmed Chemori <>
Soumis le : mercredi 15 août 2012 - 18:57:41
Dernière modification le : vendredi 13 juillet 2018 - 17:02:01
Document(s) archivé(s) le : vendredi 16 novembre 2012 - 02:25:21

Fichier

Sartori_PID2012.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : lirmm-00723937, version 1

Collections

Citation

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, 2012, 〈http://pid12.ing.unibs.it/〉. 〈lirmm-00723937〉

Partager

Métriques

Consultations de la notice

350

Téléchargements de fichiers

311