期刊
CONTROL ENGINEERING PRACTICE
卷 13, 期 7, 页码 863-874出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2004.10.001
关键词
model-based control; predictive control; robot control
This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed torque control and PID control strategies are compared in complex machining tasks trajectories. Tracking performance and disturbance rejection are enlightened. (c) 2004 Elsevier Ltd. All rights reserved.
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