Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators

Moussab Bennehar 1 Ahmed Chemori 1 Sébastien Krut 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with continuous closed form trajectories generation and control of redundantly actuated parallel kinematic manipulators. Continuous closed form trajectories are usually given by means of analytical functions of time and show inherent discontinuities in velocity and/or acceleration profiles. In order to solve this problem, we propose an approach consisting of modifying the time function without changing the overall closed shape of the trajectory in the operational space. To deal with the actuation redundancy, an extended version of the PD controller with computed feedforward is proposed. The resulting control torques are projected using a regularization matrix in order to remove internal forces that may be dangerous for the manipulator. The proposed trajectory generator as well as the controller are implemented in real-time on Dual-V; a redundantly actuated parallel manipulator developed in our laboratory.
Type de document :
Communication dans un congrès
SSD: Systems, Analysis and Automatic Control, Feb 2014, Castelldefels-Barcelona, Spain. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. 〈http://www.ssd-conf.org/ssd14/index.php?site=index&conf=SAC〉. 〈10.1109/SSD.2014.6808879〉
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00947459
Contributeur : Ahmed Chemori <>
Soumis le : dimanche 16 février 2014 - 10:47:26
Dernière modification le : mardi 20 février 2018 - 18:31:54
Document(s) archivé(s) le : dimanche 9 avril 2017 - 12:19:27

Fichier

SSD_14_Bennehar_Paper_15698475...
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot. Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators. SSD: Systems, Analysis and Automatic Control, Feb 2014, Castelldefels-Barcelona, Spain. 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. 〈http://www.ssd-conf.org/ssd14/index.php?site=index&conf=SAC〉. 〈10.1109/SSD.2014.6808879〉. 〈lirmm-00947459〉

Partager

Métriques

Consultations de la notice

117

Téléchargements de fichiers

282