Sciweavers

Share
IROS
2009
IEEE

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

9 years 1 days ago
Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments
Abstract— This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace 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.
Guilherme Sartori Natal, Ahmed Chemori, Fran&ccedi
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company
Comments (0)
books