Identification and Vibration Attenuation for the Parallel Robot Par2

Luiz Ricardo Douat 1 Isabelle Queinnec 1 Germain Garcia 1 Micaël Michelin 2 François Pierrot 3 Sophie Tarbouriech 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 Fatronik-Tecnalia
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Par2 is a two-degree-of-freedom parallel robot designed for high-speed and high-accuracy industrial pick-and-place operation tasks. As a result of the high acceleration trajec-tories, the end-effector undergoes some undesirable vibrations after reaching the stop positions, compromising its precision and leading therefore 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 in a non-collocated closed-loop setting. After submitting the robot to an identification procedure, the obtained nominal model is used to synthesize a reduced order controller with the H ∞ Loop Shaping technique. Performance analysis as well as simulation and experimental results exhibit that vibration reduction is achieved around the nominal operating point, but fails 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, which allows to achieve vibration attenuation on the whole operation domain, for a given configuration of the robot at the stop point.
Keywords : Anti-windup Saturation High-speed parallel robotics Robust control Vibration attenuation Piezoelectric actuators
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LAAS | TDS-MACS | DEXTER | LIRMM | LAAS-MAC | MIPS | UNIV-MONTPELLIER | INSA-TOULOUSE | LAAS-DECISION-ET-OPTIMISATION | INSA-GROUPE | UNIV-TLSE3

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Luiz Ricardo Douat, Isabelle Queinnec, Germain Garcia, Micaël Michelin, François Pierrot, et al.. Identification and Vibration Attenuation for the Parallel Robot Par2. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2014, 22 (1), pp.190-200. ⟨10.1109/TCST.2013.2249515⟩. ⟨hal-01851755⟩

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