Predictive functional control for a parallel robot

Author

Vivas, Andrés ; Poignet, Philippe ; Pierrot, Franqois

Author_Institution

LIRMM, Univ. de Montpellier II, France

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2785

Abstract

This paper presents an efficient application of a model based predictive control in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed torque control and PID control strategies are compared in complex machining tasks trajectories. The tracking performances are enlightened.

Keywords

machining; predictive control; robot kinematics; three-term control; torque control; tracking; 1 dof; H4 robot; PID control; complex machining tasks trajectories; degrees of freedom; dynamic model; model based predictive control; parallel mechanisms; parallel robot; parallel structure; predictive functional control; torque control; tracking; Jacobian matrices; Kinematics; Machining; Parallel robots; Predictive control; Predictive models; Solid modeling; Three-term control; Torque control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249292

Filename

1249292