Robust joint space control of a 6 DOF parallel robot

Detalhes bibliográficos
Autor(a) principal: Becerra-Vargas, Mauricio [UNESP]
Data de Publicação: 2016
Outros Autores: Bueno, Atila Madureira [UNESP], Vargas, Otavio Delboni [UNESP], Balthazar, José Manoel [UNESP]
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1109/CCA.2016.7588003
http://hdl.handle.net/11449/233006
Resumo: The purpose of this study is to apply robust inverse dynamics control for a 6 DOF parallel robot. The implementation is performed considering a simplification of the inverse dynamics control law by assuming the control law matrices as constants, and by using a joint control structure to avoid the forward kinematics calculation. The robust control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation due to this simplification. Additionally, the control strategy is designed using the Lyapunov stability theory, and the dynamic model in joint coordinates is briefly presented. Numerical results are shown in order to validate the controller performance.
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spelling Robust joint space control of a 6 DOF parallel robotThe purpose of this study is to apply robust inverse dynamics control for a 6 DOF parallel robot. The implementation is performed considering a simplification of the inverse dynamics control law by assuming the control law matrices as constants, and by using a joint control structure to avoid the forward kinematics calculation. The robust control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation due to this simplification. Additionally, the control strategy is designed using the Lyapunov stability theory, and the dynamic model in joint coordinates is briefly presented. Numerical results are shown in order to validate the controller performance.UNESP - Univ Estadual Paulista Sorocaba, Av. Três de Março, 511UNESP - Univ Estadual Paulista, Bauru, Av. Eng. Luiz Edmundo C. Coube, 14-01UNESP - Univ Estadual Paulista Sorocaba, Av. Três de Março, 511UNESP - Univ Estadual Paulista, Bauru, Av. Eng. Luiz Edmundo C. Coube, 14-01Universidade Estadual Paulista (UNESP)Becerra-Vargas, Mauricio [UNESP]Bueno, Atila Madureira [UNESP]Vargas, Otavio Delboni [UNESP]Balthazar, José Manoel [UNESP]2022-04-30T23:49:52Z2022-04-30T23:49:52Z2016-10-10info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject1404-1407http://dx.doi.org/10.1109/CCA.2016.75880032016 IEEE Conference on Control Applications, CCA 2016, p. 1404-1407.http://hdl.handle.net/11449/23300610.1109/CCA.2016.75880032-s2.0-85086755155Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPeng2016 IEEE Conference on Control Applications, CCA 2016info:eu-repo/semantics/openAccess2022-04-30T23:49:52Zoai:repositorio.unesp.br:11449/233006Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T19:20:35.973945Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Robust joint space control of a 6 DOF parallel robot
title Robust joint space control of a 6 DOF parallel robot
spellingShingle Robust joint space control of a 6 DOF parallel robot
Becerra-Vargas, Mauricio [UNESP]
title_short Robust joint space control of a 6 DOF parallel robot
title_full Robust joint space control of a 6 DOF parallel robot
title_fullStr Robust joint space control of a 6 DOF parallel robot
title_full_unstemmed Robust joint space control of a 6 DOF parallel robot
title_sort Robust joint space control of a 6 DOF parallel robot
author Becerra-Vargas, Mauricio [UNESP]
author_facet Becerra-Vargas, Mauricio [UNESP]
Bueno, Atila Madureira [UNESP]
Vargas, Otavio Delboni [UNESP]
Balthazar, José Manoel [UNESP]
author_role author
author2 Bueno, Atila Madureira [UNESP]
Vargas, Otavio Delboni [UNESP]
Balthazar, José Manoel [UNESP]
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade Estadual Paulista (UNESP)
dc.contributor.author.fl_str_mv Becerra-Vargas, Mauricio [UNESP]
Bueno, Atila Madureira [UNESP]
Vargas, Otavio Delboni [UNESP]
Balthazar, José Manoel [UNESP]
description The purpose of this study is to apply robust inverse dynamics control for a 6 DOF parallel robot. The implementation is performed considering a simplification of the inverse dynamics control law by assuming the control law matrices as constants, and by using a joint control structure to avoid the forward kinematics calculation. The robust control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation due to this simplification. Additionally, the control strategy is designed using the Lyapunov stability theory, and the dynamic model in joint coordinates is briefly presented. Numerical results are shown in order to validate the controller performance.
publishDate 2016
dc.date.none.fl_str_mv 2016-10-10
2022-04-30T23:49:52Z
2022-04-30T23:49:52Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1109/CCA.2016.7588003
2016 IEEE Conference on Control Applications, CCA 2016, p. 1404-1407.
http://hdl.handle.net/11449/233006
10.1109/CCA.2016.7588003
2-s2.0-85086755155
url http://dx.doi.org/10.1109/CCA.2016.7588003
http://hdl.handle.net/11449/233006
identifier_str_mv 2016 IEEE Conference on Control Applications, CCA 2016, p. 1404-1407.
10.1109/CCA.2016.7588003
2-s2.0-85086755155
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2016 IEEE Conference on Control Applications, CCA 2016
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 1404-1407
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
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