Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators

verfasst von

H. Abdellatif, Bodo Heimann, Jens Kotlarski

Abstract

This article provides a tracking scheme for 6 dof’s parallel robots. It is based on a controller/observer combination with an additional compensation of the desired dynamics. The latter is necessary to avoid an online calculation of the direct kinematics. However, it introduces systematic errors. To take such deviations into account a passivity based formalism is used. The resulting approach is experimentally substantiated and proven to be highly powerful and robust against initial errors and model uncertainties.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

2392-2397

Publikationsdatum

2008

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja