Model based predictive control of a fully parallel robot

Albán, Óscar Andrés Vivas; Poignet, Philippe

doi:10.1016/s1474-6670(17)33402-x

Cited by 11 publications

(6 citation statements)

References 9 publications

(12 reference statements)

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“…These trajectoires show the different performances of the three controllers applied in this parallel mechanism. Other results can be found in [16]. Fig.…”

Section: Resultssupporting

confidence: 52%

Predictive functional control of a parallel robot

Albán

Poignet

2005

Control Engineering Practice

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109

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“…These trajectoires show the different performances of the three controllers applied in this parallel mechanism. Other results can be found in [16]. Fig.…”

Section: Resultssupporting

confidence: 52%

Predictive functional control of a parallel robot

Albán

Poignet

2005

Control Engineering Practice

Self Cite

109

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“…La commande prédictive a fait ses preuves en industrie mais á eté peu utilisée en pneumatique. Elle aété implémentée dans des applications de robotique parallèle actionnéélectriquement dans [9] [10] montrant d'excellentes performances en termes de suivi rapide et de robustesse par rapport aux variations de charge. D'autres applications en robotique peuventêtre trouvées dans [8].…”

Section: Stratégie De Commandeunclassified

AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d’objets

Chikh¹,

Baradat²,

Poignet

et al. 2011

Mécanique & Industries

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Résumé :Un prototype de robot parallèle actionné pneumatiquementà deux degrés de liberté aété développé afin de rendre accessible aux petites et moyennes entreprises la robotisation de tâches qui nécessiteraient le déplacement de charges de 5à 20 kg en utilisant des vérins standards moins onéreux que les moteurś electriques. Après une présentation de la structure mécanique du robot ainsi que les modèles de ses actionneurs, la stratégie de commande innovante (commande prédictive généralisée avec boucle interne de force H ∞ ) est introduite, puis les résultats obtenus expérimentalement sont présentés et analysés. Abstract :A two degrees-of-freedom pneumatically driven parallel robot has been developed for pick-and-place of payloads comprised between 5 and 20 kg using standard double acting cylinders cheaper than electrical motors. After the general presentation of the robot, the actuator models are developed and a novel control strategy is introduced based on a cascade scheme with a predictive position controller and an inner H ∞ force control. Some experimental results are then presented and analyzed in order to show the effectiveness of the controllers.

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“…The parameters vector is then estimated using weighted leastsquares techniques [14]. Joint velocities and accelerations required in equation (22) are estimated by a bandpass filtering of the position.…”

Section: Dynamic Parameter Estimationmentioning

confidence: 99%

“…The relative standard deviation (%σx r ) is also given. More details concerning the identification procedure may be found in [14], [15], [5]. …”

Section: Dynamic Parameter Estimationmentioning

confidence: 99%

“…The output, the control input and the reference trajectory for α = 0.99 So, by using PFC tools, it was possible to find for the MGS compensated H4 robot system of equation (30) an equilibrium point H P = 35 for which the relative closed-loop stability was improved from 45th IEEE CDC, San Diego, USA, Dec. [13][14][15]2006 FrIP11.5 13.3 dB to 17.8 dB (with α = 0). Moreover, by increasing the value of α to 0.99, the robustness of the closed-loop system was more improved by an increase in the gain margin value to 28.4 dB without affecting the absolute closed-loop stability of the system, having H P = 35 an equilibrium point.…”

Section: Mgs Systems Were Introduced In [2] and [3] Asmentioning

confidence: 99%

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Improving the Robustness of a Parallel Robot Using Predictive Functional Control (PFC) Tools

Maalouf

2006

Proceedings of the 45th IEEE Conference on Decision and Control

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Heuristically, it was claimed in the literature that increasing the time-constant 'T ref ' of the reference trajectory in Predictive Functional Control (PFC) improves the closed-loop stability because the controller will be able to tolarate model mismatch which is difficult for a zero time-constant reference trajectory (a pure set-point) to tolerate. On the other hand, PFC uses 'T ref ' as the main tuning parameter. Smaller time constants demand more aggressive control, while larger time constants result in less aggressive action. One may start with 'T ref ' equal to the open-loop time constant of the control variable, then refine the tuning based on performance/robustness trade-offs. In this paper, the author investigates these issues analytically for an H4 robot. The analysis done shows that the system obtained is of type MGS defined in [3] for which it is possible by using PFC tools to find analytically a stable equilibrium point for the system and track at the same time a reference trajectory with a gain margin that increases as 'T ref ' increases, improving that way the relative stability of the closed-loop system. The author notes that, the study done in this paper for the H4 robot could be applied to any robot whose linearised model is of MGS type defined in [3]. The author notes as well that the plots illustrated in this paper were obtained by simulation using Matlab/Simulink.

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Model based predictive control of a fully parallel robot

Cited by 11 publications

References 9 publications

Predictive functional control of a parallel robot

Predictive functional control of a parallel robot

AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d’objets

Improving the Robustness of a Parallel Robot Using Predictive Functional Control (PFC) Tools

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