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Erschienen in:

2019 | OriginalPaper | Buchkapitel

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

verfasst von : H. Saied, A. Chemori, M. El Rafei, C. Francis, F. Pierrot

Erschienen in: Mechanism, Machine, Robotics and Mechatronics Sciences

Verlag: Springer International Publishing

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Abstract

This paper deals with control of parallel robots, where different controllers are proposed and compared. It demonstrates the strength of model-based controllers over the non-model-based ones when dealing with parallel kinematic manipulators known with their high nonlinearity, time-varying parameters and uncertainties. More precisely, adaptive model-based algorithms are the preferred control solutions for such kind of manipulators, thanks to their adjustable-parameters feature which is more adequate to the varying and non-accurate nature of parallel kinematic manipulators. These facts are fulfilled here by numerical simulations and real-time experiments on a four-degree-of-freedom parallel robot named VELOCE.

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Nächstes Kapitel Parallel Robot Integration and Synchronization in a Waste Sorting System

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Titel: From Non-model-Based to Model-Based Control of PKMs: A Comparative Study
verfasst von: H. Saied
A. Chemori
M. El Rafei
C. Francis
F. Pierrot
Verlag: Springer International Publishing
Buch: Mechanism, Machine, Robotics and Mechatronics Sciences
Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-319-89911-4_12

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