NDLI: H∞ control applied to the vibration minimization of the parallel robot Par2

Content Provider	IEEE Xplore Digital Library
Author	Douat, L.R. Queinnec, I. Garcia, G. Michelin, M. Pierrot, F.
Copyright Year	2011
Description	Author affiliation: LIRMM (Douat, L.R.; Pierrot, F.) \|\| CNRS; LAAS; 7 avenue du colonel Roche, F-31077 Toulouse, France (Queinnec, I.; Garcia, G.) \|\| FATRONIK France - Tecnalia (Michelin, M.)
Abstract	Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around the robot arms in order to actively minimize these vibrations, which are by their turn measured by three accelerometers orthogonally oriented and placed on the end-effector. After submitting the robot to an identification procedure, the obtained model is used to synthesize a reduced order H∞ control law that succeeds in minimizing the residual vibrations.
Starting Page	947
Ending Page	952
File Size	1722475
Page Count	6
File Format	PDF
ISBN	9781457710629
ISSN	10851992
e-ISBN	9781457710636
e-ISBN	9781457710612
DOI	10.1109/CCA.2011.6044455
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Frequency control Acceleration Manipulators Accelerometers Trajectory
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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