ICRA 2012 Paper Abstract


Paper TuA07.2

Sartori Natal, Guilherme (LIRMM, University of Montpellier 2), Chemori, Ahmed (LIRMM), Pierrot, François (CNRS - LIRMM)

Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations with Load Changes

Scheduled for presentation during the Regular Session "Robust and Adaptive Control of Robotic Systems" (TuA07), Tuesday, May 15, 2012, 08:45−09:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Robust/Adaptive Control of Robotic Systems, Parallel Robots, Redundant Robots


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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