Application of predictive control techniques within parallel robot

Detalhes bibliográficos
Autor(a) principal: Lara-Molina,Fabian Andres
Data de Publicação: 2012
Outros Autores: Rosário,João Maurício, Dumur,Didier, Wenger,Philippe
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Sba: Controle & Automação Sociedade Brasileira de Automatica
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592012000500002
Resumo: This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.
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spelling Application of predictive control techniques within parallel robotParallel robotRobot controlGeneralized predictive controlThis paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.Sociedade Brasileira de Automática2012-10-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592012000500002Sba: Controle & Automação Sociedade Brasileira de Automatica v.23 n.5 2012reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592012000500002info:eu-repo/semantics/openAccessLara-Molina,Fabian AndresRosário,João MaurícioDumur,DidierWenger,Philippeeng2012-10-18T00:00:00Zoai:scielo:S0103-17592012000500002Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2012-10-18T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false
dc.title.none.fl_str_mv Application of predictive control techniques within parallel robot
title Application of predictive control techniques within parallel robot
spellingShingle Application of predictive control techniques within parallel robot
Lara-Molina,Fabian Andres
Parallel robot
Robot control
Generalized predictive control
title_short Application of predictive control techniques within parallel robot
title_full Application of predictive control techniques within parallel robot
title_fullStr Application of predictive control techniques within parallel robot
title_full_unstemmed Application of predictive control techniques within parallel robot
title_sort Application of predictive control techniques within parallel robot
author Lara-Molina,Fabian Andres
author_facet Lara-Molina,Fabian Andres
Rosário,João Maurício
Dumur,Didier
Wenger,Philippe
author_role author
author2 Rosário,João Maurício
Dumur,Didier
Wenger,Philippe
author2_role author
author
author
dc.contributor.author.fl_str_mv Lara-Molina,Fabian Andres
Rosário,João Maurício
Dumur,Didier
Wenger,Philippe
dc.subject.por.fl_str_mv Parallel robot
Robot control
Generalized predictive control
topic Parallel robot
Robot control
Generalized predictive control
description This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.
publishDate 2012
dc.date.none.fl_str_mv 2012-10-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592012000500002
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592012000500002
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S0103-17592012000500002
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Automática
publisher.none.fl_str_mv Sociedade Brasileira de Automática
dc.source.none.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica v.23 n.5 2012
reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica
instname:Sociedade Brasileira de Automática (SBA)
instacron:SBA
instname_str Sociedade Brasileira de Automática (SBA)
instacron_str SBA
institution SBA
reponame_str Sba: Controle & Automação Sociedade Brasileira de Automatica
collection Sba: Controle & Automação Sociedade Brasileira de Automatica
repository.name.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)
repository.mail.fl_str_mv ||revista_sba@fee.unicamp.br
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