Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2020

Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control

Abstract

Precise trajectory tracking and stiffness modulation for tensegrity mechanisms are a challenging topic that can open new horizon of applications for this type of systems. This paper presents a new control strategy of tensegrity mechanisms using a model predictive controller (MPC). Based on a dynamic model, the proposed approach allows to track trajectories with low and relatively high dynamics as well as to modulate the mechanism stiffness by changing only the controller's parameters. Trajectories of 30s, 5s and 1s are performed showing a trajectory tracking improvement of up to 64% in the root mean square error when compared to literature results.
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Dates and versions

lirmm-03140520 , version 1 (12-02-2021)

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Jurado Realpe, Salih Abdelaziz, Philippe Poignet. Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control. ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Jun 2020, Ljubljana, Slovenia. pp.349-358, ⟨10.1007/978-3-030-50975-0_43⟩. ⟨lirmm-03140520⟩
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