Abstract
Model Based Predictive Control (MPC) is an interesting approach due to its ability to consider the constraints of the controlled system and easily adapt to the future reference changes. In this paper, a novel robust MPC controller is presented, which considers the effect of the Tool Center Point (TCP) estimation errors and the model uncertainties of the mechanical structure. In order to show its effectiveness, its application to the 5R parallel manipulator is detailed. Simulation validation is provided to demonstrate that the proposed approach can exploit all the theoretical capabilities of the mechatronic system.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Alvarado, I.: Model predictive control for tracking constrained linear systems. Ph.D. thesis, Escuela Técnica Superior de Ingenieros Universidad de Sevilla (2007)
Belda, K., Böhm, J., Valášek, M.: State-Space Generalized Predictive Control for Redundant Parallel Robots. Mechanics Based Design of Structures and Machines 31(3), 413–432 (2003)
Brecher, C., Ostermann, T., Friedrich, D.: Control concept for pkm considering the mechanical coupling between actuator. In: Proceedings of the 5th Chemnitz Parallel Kinematics Seminar, pp. 413–427 (2006)
Camacho, E., Bordons, C.: Control predictivo: Pasado, presente y futuro. Revista Iberoamericana de Automtica e Informtica Industrial (RIAI) 1(3) (2004) ( in Spanish)
Honegger, M., Codourey, A., Burdet, E.: Adaptive control of the hexaglide, a 6 dof parallel manipulator. In: IEEE International Conference in Robotics and Automation (1997)
Kolmanovsky, I., Gilbert, E.G.: Theory and conmputation of disturbance invariant sets for discrete-time linear systems. Mathematical Problems in Engineering: Theory, Methods and Applications 4, 317–367 (1998)
Lee, S.H., Song, J.B., Choi, W.C., Hong, D.: Position control of a stewart platform using inverse dynamics control with approximate dynamics. Mechatronics 13, 605–619 (2003)
Merlet, J.-P.: Parallel Robots, 2nd edn. Kluwer (2006)
Stan, S., Manic, M., Maties, M., Balan, R.: Kinematics analysis, design, and control of an isoglide3 parallel robot (ig3pr). In: Proc. 34th Annual Conference of the IEEE Industrial Electronics Society, pp. 1265–1275 (2008)
Vivas, A., Poignet, P.: Model based predcitive control of a fully parallel robot. In: Proceedings of the 7th IFAC Symposium on Robot Control (SYROCO 2003), pp. 253–258 (2003)
Yen, P., Lai, C.: Dynamic modeling and control of a 3-dof cartesian parallel manipulator. Mechatronics 19(3), 390–398 (2009)
Zubizarreta, A.: Estrategias de control avanzado para robots paralelos. Ph.D. thesis, University of the Basque Country, UPV/EHU (2010) (in spanish)
Zubizarreta, A., Cabanes, I., Marcos-Muñoz, M., Pinto, C.: Experimental validation of the extended computed torque control approach in the 5r parallel robot prototype. In: Su, C.-Y., Rakheja, S., Liu, H. (eds.) ICIRA 2012, Part II. LNCS (LNAI), vol. 7507, pp. 509–518. Springer, Heidelberg (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer Science+Business Media Dordrecht
About this paper
Cite this paper
Zubizarreta, A., Cabanes, I., Marcos, M., Pinto, C., Corral, J. (2014). Robust Model Based Predictive Control for Trajectory Tracking of Parallel Robots. In: Petuya, V., Pinto, C., Lovasz, EC. (eds) New Advances in Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7485-8_42
Download citation
DOI: https://doi.org/10.1007/978-94-007-7485-8_42
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-7484-1
Online ISBN: 978-94-007-7485-8
eBook Packages: EngineeringEngineering (R0)