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

Abstract— 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 proposed control approach in comparison to the conventional one.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company
• Keywords: Articular Velocities, IROS 2009, Nonlinear Dual Mode, Redundant Manipulator, Robotics