Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments
| Autor: | Vincent Creuze, Moussab Bennehar, François Pierrot, Ahmed Chemori |
|---|---|
| Přispěvatelé: | Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Image & Interaction (ICAR) |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
Parallel kinematic manipulator
Adaptive control Computer science lcsh:Mechanical engineering and machinery Kinematics Nonlinear control Actuation redundancy lcsh:QA75.5-76.95 Compensation (engineering) [SPI.AUTO]Engineering Sciences [physics]/Automatic L1 adaptive control Artificial Intelligence Control theory lcsh:TJ1-1570 ℒ1 adaptive control Simulation Robotics and AI business.industry Feed forward Robotics experiments Computer Science Applications Nonlinear system non-linear control parallel kinematic manipulators Artificial intelligence lcsh:Electronic computers. Computer science business Nonlinear Control |
| Zdroj: | Frontiers in Robotics and AI, Vol 2 (2015) Frontiers in Robotics and AI Frontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32. ⟨10.3389/frobt.2015.00032⟩ |
| ISSN: | 2296-9144 |
| DOI: | 10.3389/frobt.2015.00032/full |
| Popis: | International audience; This paper deals with a new control scheme for parallel kinematic manipulators (PKMs) based on the L 1 adaptive control theory. The original L 1 adaptive controller is extended by including an adaptive loop based on the dynamics of the PKM. The additional model-based term is in charge of the compensation of the modeled non-linear dynamics in the aim of improving the tracking performance. Moreover, the proposed controller is enhanced to reduce the internal forces, which may appear in the case of redundantly actuated PKMs (RA-PKMs). The generated control inputs are first regulated through a projection mechanism that reduces the antagonistic internal forces, before being applied to the manipulator. To validate the proposed controller and to show its effectiveness, real-time experiments are conducted on a new four degrees-of-freedom (4-DOFs) RA-PKM developed in our laboratory. |
| Databáze: | OpenAIRE |
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