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

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dc.contributor.authorDouat, Luiz R.
dc.contributor.authorQueinnec, Isabelle
dc.contributor.authorGarcia, Germain
dc.contributor.authorMichelin, Micaël
dc.contributor.authorPierrot, François
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:50:38Z
dc.date.available2024-07-24T11:50:38Z
dc.date.issued2011
dc.description.abstractConceived 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.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationDouat , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/CCA.2011.6044455
dc.identifier.isbn9781457710629
dc.identifier.urihttps://hdl.handle.net/11556/1997
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=80155192431&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartof2011 IEEE International Conference on Control Applications, CCA 2011
dc.relation.ispartofseriesProceedings of the IEEE International Conference on Control Applications
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsGeneral Mathematics
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleH∞ control applied to the vibration minimization of the parallel robot Par2en
dc.typeconference output
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