Anti-windup design for saturation management during piezo-actuated vibration attenuation of the high-speed parallel robot Par2

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URI: https://hdl.handle.net/11556/1891
ISSN: 1474-6670
ISBN: 9783902823250
DOI: 10.3182/20130204-3-FR-2033.00116
Publication date
2013
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IFAC Secretariat
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Abstract
The two degrees of freedom parallel robot Par2 is designed for high-speed and high-accuracy industrial pick-and-place operation tasks. As a result of high acceleration trajectories, its end-effector undergoes some undesirable vibrations after reaching the stop position, compromising precision and leading to an increase in the operation cycle time. Accelerometer sensors placed on the end-effector and piezoelectric patch actuators wrapped around the robot arms are employed in order to actively reduce these vibrations. Without taking into account saturation limitations, a robust controller is designed, minimizing vibrations for the robot nominal operating point but failing for some extreme operating points, due to high control efforts. An anti-windup strategy is then employed to deal with the saturation of the actuator. Such a strategy presents the advantage, with respect to the strategy which would consider a controller with smoother control efforts, to maintain a good level of vibration attenuation on the whole operation domain. Simulations and experimental results attest the adequacy of the proposed solution.
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Keywords
Anti-windup , Parallel robot , Piezoactuators , Saturations , Vibrations , Control and Systems Engineering
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conference output
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Douat , L R , Queinnec , I , Garcia , G , Michelin , M , Pierrot , F & Tarbouriech , S 2013 , Anti-windup design for saturation management during piezo-actuated vibration attenuation of the high-speed parallel robot Par2 . in IFAC Joint conference SSSC,FDA, TDS - 5th IFAC Symposium on System Structure and Control, SSSC 2013 - Proceedings . 2 edn , IFAC Proceedings Volumes (IFAC-PapersOnline) , no. 2 , vol. 46 , IFAC Secretariat , pp. 773-778 , 5th IFAC Symposium on System Structure and Control, SSSC 2013 , Grenoble , France , 4/02/13 . https://doi.org/10.3182/20130204-3-FR-2033.00116
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