NDLI: Robust control of a parallel robot

Content Provider	IEEE Xplore Digital Library
Author	Rachedi, M. Bouri, M. Hemici, B.
Copyright Year	2015
Description	Author affiliation: Lab. of Process Control, Polytech. Nat. Sch., Algiers, Algeria (Hemici, B.) \|\| Autom. & Instrum. Dept., U.S.T.H.B Univ., Algiers, Algeria (Rachedi, M.) \|\| Lab. of Robotic Syst., Polytech. Fed. de Lausanne (EPFL), Lausanne, Swistzerland (Bouri, M.)
Abstract	This work presents the implementation of two model based control schemes in parallel mechanisms; the H∞ robust control designed by the mixed sensitivity approach and the Computed Torque Control (CTC). Simulations results are illustrated for the 3DOF parallel robot namely the “Delta robot”. Performances of the CTC and the H∞ controllers are compared for a semi elliptic pick and place trajectory and with a parabolic position profile. The movement dynamic is increased up to the acceleration of 12 G and a velocity of 1m/s. For robustness tests, parametric disturbances are introduced by additional loads on the travelling plate of the Delta robot. The simulation results performed on a SimMechanics model of the Delta robot show that the H∞ controller presents better performances and robustness compared to the CTC controller. It is implemented in the control scheme without the incorporation of the inverse dynamic model (IDM) of the system which reduces significantly the computation time of the control law.
Starting Page	428
Ending Page	433
File Size	320854
Page Count	6
File Format	PDF
e-ISBN	9781467375092
DOI	10.1109/ICAR.2015.7251491
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-27
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Mathematical model Robot kinematics Computational modeling Trajectory Sensitivity Computed Torque Control Parallel mechanism Model based control H∞ control
Content Type	Text
Resource Type	Article

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