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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Published in | 2012 IEEE International Conference on Robotics and Automation pp. 253 - 258 |
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Main Authors | , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.05.2012
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Abstract | 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. |
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AbstractList | 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. |
Author | Pierrot, F. Chemori, A. Sartori Natal, G. |
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Snippet | This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations. This... |
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StartPage | 253 |
SubjectTerms | Acceleration Feedforward neural networks Joints Manipulator dynamics Payloads Trajectory |
Title | Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes |
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