H∞ control applied to the vibration minimization of the parallel robot Par2

Luiz R. Douat; Isabelle Queinnec; Germain Garcia; Micaël Michelin; François Pierrot

doi:10.1109/CCA.2011.6044455

H_∞ control applied to the vibration minimization of the parallel robot Par2

Luiz R. Douat^*
, Isabelle Queinnec
, Germain Garcia
, Micaël Michelin
, François Pierrot

^*Corresponding author for this work

TECNALIA Research & Innovation

LAAS
Université de Toulouse
Université de Montpellier II

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around the robot arms in order to actively minimize these vibrations, which are by their turn measured by three accelerometers orthogonally oriented and placed on the end-effector. After submitting the robot to an identification procedure, the obtained model is used to synthesize a reduced order H_∞ control law that succeeds in minimizing the residual vibrations.

Original language	English
Title of host publication	2011 IEEE International Conference on Control Applications, CCA 2011
Pages	947-952
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2011.6044455
Publication status	Published - 2011
Event	2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO, United States Duration: 28 Sept 2011 → 30 Sept 2011

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Conference

Conference	2011 20th IEEE International Conference on Control Applications, CCA 2011
Country/Territory	United States
City	Denver, CO
Period	28/09/11 → 30/09/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1109/CCA.2011.6044455

Cite this

Douat, L. R., Queinnec, I., Garcia, G., Michelin, M., & Pierrot, F. (2011). H_∞ control applied to the vibration minimization of the parallel robot Par2. In 2011 IEEE International Conference on Control Applications, CCA 2011 (pp. 947-952). Article 6044455 (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2011.6044455

@inproceedings{689c30e350d54a4ca4b5935278fc7e57,

title = "H∞ control applied to the vibration minimization of the parallel robot Par2",

abstract = "Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around the robot arms in order to actively minimize these vibrations, which are by their turn measured by three accelerometers orthogonally oriented and placed on the end-effector. After submitting the robot to an identification procedure, the obtained model is used to synthesize a reduced order H∞ control law that succeeds in minimizing the residual vibrations.",

author = "Douat, \{Luiz R.\} and Isabelle Queinnec and Germain Garcia and Mica{\"e}l Michelin and Fran{\c c}ois Pierrot",

year = "2011",

doi = "10.1109/CCA.2011.6044455",

language = "English",

isbn = "9781457710629",

series = "Proceedings of the IEEE International Conference on Control Applications",

pages = "947--952",

booktitle = "2011 IEEE International Conference on Control Applications, CCA 2011",

note = "2011 20th IEEE International Conference on Control Applications, CCA 2011 ; Conference date: 28-09-2011 Through 30-09-2011",

}

Douat, LR, Queinnec, I, Garcia, G, Michelin, M & Pierrot, F 2011, H_∞ control applied to the vibration minimization of the parallel robot Par2. in 2011 IEEE International Conference on Control Applications, CCA 2011., 6044455, Proceedings of the IEEE International Conference on Control Applications, pp. 947-952, 2011 20th IEEE International Conference on Control Applications, CCA 2011, Denver, CO, United States, 28/09/11. https://doi.org/10.1109/CCA.2011.6044455

H_∞ control applied to the vibration minimization of the parallel robot Par2. / Douat, Luiz R.; Queinnec, Isabelle; Garcia, Germain et al.
2011 IEEE International Conference on Control Applications, CCA 2011. 2011. p. 947-952 6044455 (Proceedings of the IEEE International Conference on Control Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around the robot arms in order to actively minimize these vibrations, which are by their turn measured by three accelerometers orthogonally oriented and placed on the end-effector. After submitting the robot to an identification procedure, the obtained model is used to synthesize a reduced order H∞ control law that succeeds in minimizing the residual vibrations.

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