RT Conference Proceedings
T1 H∞ control applied to the vibration minimization of the parallel robot Par2
A1 Douat, Luiz R.
A1 Queinnec, Isabelle
A1 Garcia, Germain
A1 Michelin, Micaël
A1 Pierrot, François
AB 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.
SN 9781457710629
YR 2011
FD 2011
LK https://hdl.handle.net/11556/1997
UL https://hdl.handle.net/11556/1997
LA eng
NO 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024