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Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

Published online by Cambridge University Press:  04 June 2014

Guilherme Sartori Natal ,
Ahmed Chemori  and
François Pierrot
Guilherme Sartori Natal
Affiliation:
Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300B, BE-3001 Heverlee, Belgium
Ahmed Chemori*
Affiliation:
LIRMM, Univ. Montpellier 2 – CNRS, UMR 5506 – CC 477, 161 rue Ada, 34095 Montpellier, France
François Pierrot
Affiliation:
LIRMM, Univ. Montpellier 2 – CNRS, UMR 5506 – CC 477, 161 rue Ada, 34095 Montpellier, France
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a comparison between control/state estimation methods applied on Par2 parallel manipulator for pick-and-place applications as well as a discussion about the mechanical vibrations issue that may become important when reaching very high accelerations. Real-time experiments were performed first to compare two controllers (a linear Proportional-Derivative controller and a nonlinear/adaptive Dual Mode (DM) controller) complied with the same High-Gain Observer (HGO) to estimate articular velocities, and second to compare three state observers (a Lead-lag-based, an Alpha-beta-gamma (ABG) and an HGO) complied with the same nonlinear DM controller. The stability analysis of the Par2 robot under the control of the proposed DM controller (complied with the HighGO for joint velocity estimation) is also provided. Some small mechanical vibrations were noted when reaching 20 G acceleration, which means that it can become an important issue for higher accelerations. Some suggestions are then made for future investigations to avoid/damp these vibrations.

Keywords

Parallel manipulatorsNonlinear controlAdaptive controlState observersPick-and-place
Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 43 - 70
Copyright
Copyright © Cambridge University Press 2014 

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