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

^*Autor correspondiente de este trabajo

TECNALIA Research & Innovation

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

6 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2011 IEEE International Conference on Control Applications, CCA 2011
Páginas	947-952
Número de páginas	6
DOI	https://doi.org/10.1109/CCA.2011.6044455
Estado	Publicada - 2011
Evento	2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO, Estados Unidos Duración: 28 sept 2011 → 30 sept 2011

Serie de la publicación

Nombre	Proceedings of the IEEE International Conference on Control Applications

Conferencia

Conferencia	2011 20th IEEE International Conference on Control Applications, CCA 2011
País/Territorio	Estados Unidos
Ciudad	Denver, CO
Período	28/09/11 → 30/09/11

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 9: Industria, innovación e infraestructura

Acceder al documento

10.1109/CCA.2011.6044455

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Citar esto

Douat, L. R., Queinnec, I., Garcia, G., Michelin, M., & Pierrot, F. (2011). H_∞ control applied to the vibration minimization of the parallel robot Par2. En 2011 IEEE International Conference on Control Applications, CCA 2011 (pp. 947-952). Artículo 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",

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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. En 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, Estados Unidos, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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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