Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments

G. Sartori Natal, A. Chemori, F. Pierrot, O. Company
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance comparisons, a conventional Proportional-Derivative (PD) controller has also been implemented. In this context, the experimental testbed is not equipped with velocity sensors. Therefore, a high-gain observer has been implemented to estimate the articular velocities. Real-time experiments show the performance improvements obtained by the
more » ... nts obtained by the proposed control approach in comparison to the conventional one.
doi:10.1109/iros.2009.5354083 dblp:conf/iros/NatalCPC09 fatcat:axjce5hfo5h6hfgqvmijaeaiwq