DocumentCode
158708
Title
H∞ feedback control for Parallel mechanism and application to delta robot
Author
Rachedi, M. ; Bouri, M. ; Hemici, B.
Author_Institution
Lab. of Robotic Parallelism & Power Energy (LRPE), Univ. of Sci. & Technol. Houari Boumediene, Algiers, Algeria
fYear
2014
fDate
16-19 June 2014
Firstpage
1476
Lastpage
1481
Abstract
This paper discusses the design of an H∞ MIMO centralized feedback controller applied to a 3 DOF parallel robot namely the “Delta robot”. The designed controller is used in combination with a feed-forward pre-computed torque (a priori torque). The simulation results for a complex trajectory used in pick and place operation with high acceleration (12 G) show the performance improvements obtained by the total controller (a priori torque + H∞ feedback) in comparison to the conventional decentralized PID controller used with the a priori torque.
Keywords
H∞ control; MIMO systems; control system synthesis; feedback; manipulators; torque control; H∞ MIMO centralized feedback controller; H∞ feedback control; a priori torque; controller design; delta robot; feedforward precomputed torque; multiple input multiple output controller; parallel mechanism; parallel robot; pick and place operation; Automation; Educational institutions;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location
Palermo
Print_ISBN
978-1-4799-5900-6
Type
conf
DOI
10.1109/MED.2014.6961584
Filename
6961584
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