| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10400406 | Control Engineering Practice | 2005 | 12 Pages |
Abstract
This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed torque control and PID control strategies are compared in complex machining tasks trajectories. Tracking performance and disturbance rejection are enlightened.
Related Topics
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Aerospace Engineering
Authors
Andrés Vivas, Philippe Poignet,