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From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Hussein Saied 1 Ahmed Chemori 1 Maher El Rafei 2 Clovis Francis 2 François Pierrot 1 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with control of parallel robots, where different controllers are proposed and compared. It demonstrates the strength of model-based controllers over the non-model-based ones when dealing with parallel kinematic manipula-tors known with their high nonlinearity, time-varying parameters and uncertainties. More precisely, adaptive model-based algorithms are the preferred control solutions for such kind of manipulators, thanks to their adjustable-parameters feature which is more adequate to the varying and non-accurate nature of parallel kinematic manipulators. These facts are fulfilled here by numerical simulations and real-time experiments on a four-degree-of-freedom parallel robot named VELOCE.
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Submitted on : Sunday, December 15, 2019 - 8:15:42 AM
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Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot. From Non-model-Based to Model-Based Control of PKMs: A Comparative Study. Mechanism, Machine, Robotics and Mechatronics Sciences, , pp.153-169, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_12⟩. ⟨lirmm-02411641⟩



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