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

• Published in: 2012 IEEE International Conference on Robotics and Automation pp. 253 - 258
• Main Authors: Sartori Natal, G., Chemori, A., Pierrot, F.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2012
• Subjects: Acceleration; Feedforward neural networks; Joints; Manipulator dynamics; Payloads; Trajectory
• DOI: 10.1109/ICRA.2012.6224597
• ISBN: 9781467314039; 146731403X
• ISSN: 1050-4729

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.