Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

Guilherme Sartori Natal 1 Ahmed Chemori 2 François Pierrot 2
1 Department of Mechanical Engineering [Leuven]
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents a comparison between control/state estimation methods applied on Par2 parallel manipulator for pick-and-place applications as well as a discussion about the mechanical vibrations issue that may become important when reaching very high accelerations. Real-time experiments were performed first to compare two controllers (a linear Proportional-Derivative controller and a nonlinear/adaptive Dual Mode (DM) controller) complied with the same High-Gain Observer (HGO) to estimate articular velocities, and second to compare three state observers (a Lead-lag-based, an Alpha-beta-gamma (ABG) and an HGO) complied with the same nonlinear DM controller. The stability analysis of the Par2 robot under the control of the proposed DM controller (complied with the HighGO for joint velocity estimation) is also provided. Some small mechanical vibrations were noted when reaching 20 G acceleration, which means that it can become an important issue for higher accelerations. Some suggestions are then made for future investigations to avoid/damp these vibrations.
Keywords : Parallel manipulators Nonlinear control Adaptive control State observers Pick-and-place
Document type :
Journal articles
Complete list of metadatas

Cited literature [30 references]  Display  Hide  Download
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01342856
Contributor : Isabelle Gouat <>
Submitted on : Tuesday, September 10, 2019 - 4:24:23 PM
Last modification on : Tuesday, September 10, 2019 - 5:35:02 PM

File

Journal_Par2_Robotica_review.p...
Files produced by the author(s)

Identifiers

Collections

LIRMM | DEXTER | TDS-MACS | MIPS | UNIV-MONTPELLIER

Citation

Guilherme Sartori Natal, Ahmed Chemori, François Pierrot. Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator. Robotica, Cambridge University Press, 2016, 34 (01), pp.43-70. ⟨10.1017/S0263574714001246⟩. ⟨lirmm-01342856⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

176

Files downloads

4

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD