Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments

Authors:
G. Sartori Natal;A. Chemori;F. Pierrot;O. Company
Affiliations:
LIRMM, Univ. Montpellier, CNRS, Montpellier, France;LIRMM, Univ. Montpellier, CNRS, Montpellier, France;LIRMM, Univ. Montpellier, CNRS, Montpellier, France;LIRMM, Univ. Montpellier, CNRS, Montpellier, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 0

Adaptive control of mechanical manipulators

Adaptive control of mechanical manipulators
Robot Dynamics and Control

Robot Dynamics and Control
Modelling and Control of Robot Manipulators

Modelling and Control of Robot Manipulators
Above 40g acceleration for pick-and-place with a new 2-dof PKM

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation

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Abstract

This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-and-place scenario with high acceleration (20G). For performance comparisons, a conventional Proportional-Derivative (PD) controller has also been implemented. In this context, the experimental testbed is not equipped with velocity sensors. Therefore, a high-gain observer has been implemented to estimate the articular velocities. Real-time experiments show the performance improvements obtained by the proposed control approach in comparison to the conventional one.