RT Conference Proceedings
T1 Anti-windup design for saturation management during piezo-actuated vibration attenuation of the high-speed parallel robot Par2
A1 Douat, Luiz R.
A1 Queinnec, Isabelle
A1 Garcia, Germain
A1 Michelin, Micaël
A1 Pierrot, François
A1 Tarbouriech, Sophie
AB 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.
PB IFAC Secretariat
SN 9783902823250
SN 1474-6670
YR 2013
FD 2013
LK https://hdl.handle.net/11556/1891
UL https://hdl.handle.net/11556/1891
LA eng
NO 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
NO conference
NO ★ This work was supported in part by the French National Research Agency (ANR), in the framework of the Objectif 100G project.
DS TECNALIA Publications
RD 28 jul 2024