Title :
H∞ feedback control for Parallel mechanism and application to delta robot
Author :
Rachedi, M. ; Bouri, M. ; Hemici, B.
Author_Institution :
Lab. of Robotic Parallelism & Power Energy (LRPE), Univ. of Sci. & Technol. Houari Boumediene, Algiers, Algeria
Abstract :
This paper discusses the design of an H∞ MIMO centralized feedback controller applied to a 3 DOF parallel robot namely the “Delta robot”. The designed controller is used in combination with a feed-forward pre-computed torque (a priori torque). The simulation results for a complex trajectory used in pick and place operation with high acceleration (12 G) show the performance improvements obtained by the total controller (a priori torque + H∞ feedback) in comparison to the conventional decentralized PID controller used with the a priori torque.
Keywords :
H∞ control; MIMO systems; control system synthesis; feedback; manipulators; torque control; H∞ MIMO centralized feedback controller; H∞ feedback control; a priori torque; controller design; delta robot; feedforward precomputed torque; multiple input multiple output controller; parallel mechanism; parallel robot; pick and place operation; Automation; Educational institutions;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961584
