H∞ control applied to the vibration minimization of the parallel robot Par2

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URI: https://hdl.handle.net/11556/1997
ISBN: 9781457710629
DOI: 10.1109/CCA.2011.6044455
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2011
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Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around the robot arms in order to actively minimize these vibrations, which are by their turn measured by three accelerometers orthogonally oriented and placed on the end-effector. After submitting the robot to an identification procedure, the obtained model is used to synthesize a reduced order H∞ control law that succeeds in minimizing the residual vibrations.
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Control and Systems Engineering , Computer Science Applications , General Mathematics , SDG 9 - Industry, Innovation, and Infrastructure
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conference output
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Douat , L R , Queinnec , I , Garcia , G , Michelin , M & Pierrot , F 2011 , H ∞ control applied to the vibration minimization of the parallel robot Par2 . in 2011 IEEE International Conference on Control Applications, CCA 2011 . , 6044455 , Proceedings of the IEEE International Conference on Control Applications , pp. 947-952 , 2011 20th IEEE International Conference on Control Applications, CCA 2011 , Denver, CO , United States , 28/09/11 . https://doi.org/10.1109/CCA.2011.6044455
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