Name
Title | ||
|---|---|---|
Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes. |
Abstract | ||
|---|---|---|
This paper deals with the dual-space adaptive control of R4 redundantly actuated parallel manipulator for applications with very high accelerations. This controller is compared experimentally with a dual-space feedforward controller (which may have good performances for specific cases, but has crucial losses of performance when there is any operational change (such as a change of load)), for a pick-and-place task with accelerations of 30G (without payload) and 20G (with a payload of 200g). The objective of this paper is to show that the proposed dual-space adaptive controller not only keeps a very good performance independently of the operational case, but also has a better performance than the dual-space feedforward controller even when this last one is best configured to the given case. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6224597 | ICRA |
Keywords | Field | DocType |
feedforward neural network,parallel manipulator,trajectory,payload,dual space,acceleration,actuators,feedforward neural networks,payloads,adaptive control | Parallel manipulator,Feedforward neural network,Control theory,Control theory,Control engineering,Acceleration,Engineering,Adaptive control,Trajectory,Feed forward,Payload | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 E-ISBN : 978-1-4673-1404-6 |
ISBN | Citations | PageRank |
978-1-4673-1404-6 | 5 | 0.55 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guilherme Sartori Natal | 1 | 7 | 0.93 |
| Ahmed Chemori | 2 | 73 | 18.24 |
| F. Pierrot | 3 | 479 | 92.02 |