Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes

This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations. This controller is compared experimentally with a dual-space feedforward controller (which may have good performances for specific cases, but has cruci...

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Bibliographic Details
Published in2012 IEEE International Conference on Robotics and Automation pp. 253 - 258
Main Authors Sartori Natal, G., Chemori, A., Pierrot, F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2012
Subjects
Acceleration
Feedforward neural networks
Joints
Manipulator dynamics
Payloads
Trajectory
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Summary:This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations. This controller is compared experimentally with a dual-space feedforward controller (which may have good performances for specific cases, but has crucial losses of performance when there is any operational change (such as a change of load)), for a pick-and-place task with accelerations of 30G (without payload) and 20G (with a payload of 200g). The objective of this paper is to show that the proposed dual-space adaptive controller not only keeps a very good performance independently of the operational case, but also has a better performance than the dual-space feedforward controller even when this last one is best configured to the given case.
ISBN:9781467314039
146731403X
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6224597