P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Receding horizon control of a compliant manipulator: experimental analysis
Proceedings of the 13th IFToMM World Congress in Mechanism and Machine Science, Guanajuato (Mexico), June 19-25, 2011, pp.1-10

Abstract: This paper presents an experimental study of a Model Predictive Control scheme (MPC) for active vibration damping in flexible-link robotic manipulators (FLM). The prediction capability of the controller is based on a very accurate FEM dynamic model of planar FLMs. Experiments are performed on a laboratory prototype of a singlelink mechanism affected by gravity force. Results show that the proposed controller achieves a good position tracking performance and an effective vibration suppression for wide range movements. Good performance are confirmed trough the comparison with a classical controller.

Area: Controllo di Sistemi Meccanici

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