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

Guilherme Sartori Natal 1 Ahmed Chemori 2 Micaël Michelin 3 François Pierrot 2
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 TECNALIA France
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).
Keywords : Actuation redundancy robotics Parallel manipulators motion control PID control feedforward
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/〉
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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, 2012, 〈http://pid12.ing.unibs.it/〉. 〈lirmm-00723937〉

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