H∞ feedback control for Parallel mechanism and Application to Delta Robot

被引：0
|
作者：
Rachedi, M. [1 ]
Bouri, M. [2 ]
Hemici, B. [3 ]
机构：
[1] USTHB, Lab Robot Parallelism & Power Energy LRPE, BP32, Algiers, Algeria
[2] Swiss Fed Inst Technol Lausanne EPFL, Lab Robot Syst LSRO, CH-1015 Lausanne, Switzerland
[3] Algiers ENP, Polytech Natl Sch, Lab Proc Control, Algiers, Algeria
来源：
2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses the design of an H infinity 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 infinity feedback) in comparison to the conventional decentralized PID controller used with the a priori torque.
引用
收藏
页码：1476 / 1481
页数：6
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