Title :
Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators
Author :
Abdellatif, Houssem ; Heimann, Bodo ; Kotlarski, Jens
Author_Institution :
Eng. Corp. of Tech. Cybern., Munich
Abstract :
This article provides a tracking scheme for 6 DOFpsilas parallel robots. It is based on a controller/observer combination with an additional compensation of the desired dynamics. The latter is necessary to avoid an online calculation of the direct kinematics. However, it introduces systematic errors. To take such deviations into account a passivity based formalism is used. The resulting approach is experimentally substantiated and proven to be highly powerful and robust against initial errors and model uncertainties.
Keywords :
control system synthesis; manipulator dynamics; observers; robust control; uncertain systems; dynamics compensation; model uncertainties; passivity-based observer-controller design; six DOF parallel manipulators; systematic errors; Acceleration; Computational modeling; Joints; Mathematical model; Observers; Robots; Robustness;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650595
