DocumentCode
3087635
Title
Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators
Author
Abdellatif, Houssem ; Heimann, Bodo ; Kotlarski, Jens
Author_Institution
Eng. Corp. of Tech. Cybern., Munich
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
2392
Lastpage
2397
Abstract
This article provides a tracking scheme for 6 DOFpsilas parallel robots. It is based on a controller/observer combination with an additional compensation of the desired dynamics. The latter is necessary to avoid an online calculation of the direct kinematics. However, it introduces systematic errors. To take such deviations into account a passivity based formalism is used. The resulting approach is experimentally substantiated and proven to be highly powerful and robust against initial errors and model uncertainties.
Keywords
control system synthesis; manipulator dynamics; observers; robust control; uncertain systems; dynamics compensation; model uncertainties; passivity-based observer-controller design; six DOF parallel manipulators; systematic errors; Acceleration; Computational modeling; Joints; Mathematical model; Observers; Robots; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650595
Filename
4650595
Link To Document