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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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dc.contributor.author Cazalilla, J. es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Díaz Rodríguez, Miguel Ángel es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.date.accessioned 2016-10-06T12:27:22Z
dc.date.available 2016-10-06T12:27:22Z
dc.date.issued 2014-10
dc.identifier.issn 0736-5845
dc.identifier.uri http://hdl.handle.net/10251/71311
dc.description.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, off-line identification approaches omit the payload estimation (due to practical reasons). Adaptive control copes with some of these structural uncertainties. Thus, this work implements an adaptive control scheme for a 3-DOF parallel manipulator. The controller relies on a novel relevant-parameter dynamic model that permits to study the cases in where the uncertainties affect: (1) rigid body parameters, (2) friction parameters, (3) actuator dynamics, and (4) a combination of the former cases. The simulations and experiments verify the performance of the proposed controller. The control scheme is implemented on the modular programming environment Open Robot Control Software (OROCOS). Finally, an experimental setup evaluates the controller performance when the robot handles a payload. es_ES
dc.description.sponsorship 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 (FEDER-CICYT, Spain) under the research projects DPI2011-28507-C02-01 and DPI2010-20814-C02-02. en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Robotics and Computer-Integrated Manufacturing es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Parallel robot es_ES
dc.subject Model-based control es_ES
dc.subject Adaptive control es_ES
dc.subject Dynamic parameter identification es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.rcim.2014.02.003
dc.relation.projectID info:eu-repo/grantAgreement/ULA//I-1286-11-02-B/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-02/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICA/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation 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. https://doi.org/10.1016/j.rcim.2014.02.003 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1016/j.rcim.2014.02.003 es_ES
dc.description.upvformatpinicio 468 es_ES
dc.description.upvformatpfin 477 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 30 es_ES
dc.description.issue 5 es_ES
dc.relation.senia 266520 es_ES
dc.identifier.eissn 1879-2537
dc.contributor.funder Universidad de los Andes, Venezuela es_ES
dc.contributor.funder Fondo Nacional de Ciencia, Tecnología e Innovación, Venezuela es_ES


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