Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Robotics 2010 Current and Future Challenges |
| Publikationsstatus | Veröffentlicht - 2010 |
Abstract
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Robotics 2010 Current and Future Challenges. 2010.
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory
AU - Abdellatif, H.
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
AU - Heimann, Bodo
PY - 2010
Y1 - 2010
N2 - This chapter provides a practical strategy to realize accurate and robust control for 6 DOFs (degrees of freedom) parallel robots. The presented approach consists in two parts. The first basic part is based on the the compensation of the desired dynamics in combination with controller/observer for the single actuators. The passivity formalism offers an excellent framework to design and to tune the closed-loop dynamics, such that the desired behavior is obtained. The basic algorithm is proved to be locally robust towards uncertainties. The second part of the control strategy consists in a sliding mode controller. To keep the practical and computational efficient implementation, the proposed switching control considers explicitly only the friction model. Here we opt for the so called model-decomposition paradigm and we use additional integral action to improve robustness. The proposed approach is substantiated with experimental results demonstrating the effectiveness and success of the strategy that keeps control setup simple and intuitive.
AB - This chapter provides a practical strategy to realize accurate and robust control for 6 DOFs (degrees of freedom) parallel robots. The presented approach consists in two parts. The first basic part is based on the the compensation of the desired dynamics in combination with controller/observer for the single actuators. The passivity formalism offers an excellent framework to design and to tune the closed-loop dynamics, such that the desired behavior is obtained. The basic algorithm is proved to be locally robust towards uncertainties. The second part of the control strategy consists in a sliding mode controller. To keep the practical and computational efficient implementation, the proposed switching control considers explicitly only the friction model. Here we opt for the so called model-decomposition paradigm and we use additional integral action to improve robustness. The proposed approach is substantiated with experimental results demonstrating the effectiveness and success of the strategy that keeps control setup simple and intuitive.
M3 - Conference contribution
BT - Robotics 2010 Current and Future Challenges
ER -