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Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

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Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

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Cazalilla, J.; Vallés Miquel, M.; Mata Amela, V.; Díaz Rodríguez, MÁ.; Valera Fernández, Á. (2014). Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models. Robotics and Computer-Integrated Manufacturing. 30(5):468-477. doi:10.1016/j.rcim.2014.02.003

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/71311

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Title: Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models
Author:
UPV Unit: Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Issued date:
Abstract:
Model-based control improves robot performance provided that the dynamics parameters are estimated accurately. However, some of the model parameters change with time, e.g. friction parameters and unknown payload. Particularly, ...[+]
Subjects: Parallel robot , Model-based control , Adaptive control , Dynamic parameter identification
Copyrigths: Cerrado
Source:
Robotics and Computer-Integrated Manufacturing. (issn: 0736-5845 ) (eissn: 1879-2537 )
DOI: 10.1016/j.rcim.2014.02.003
Publisher:
Elsevier
Publisher version: http://dx.doi.org/10.1016/j.rcim.2014.02.003
Thanks:
This work was partially financed by Fondo Nacional de Ciencia y Tecnologia e Innovacion (FONACIT, Venezuela), CDCHT-ULA Grant I-1286-11-02-B and Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia ...[+]
Type: Artículo

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