Observer-based optimal control of flexible Stewart parallel robots

Tzafestas, S; Kotsis, M; Pimenides, T

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Kotsis, M	en
dc.contributor.author	Pimenides, T	en
dc.date.accessioned	2014-03-01T01:18:08Z
dc.date.available	2014-03-01T01:18:08Z
dc.date.issued	2002	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14809
dc.subject	Flexible observer	en
dc.subject	Flexible robot	en
dc.subject	Optimal control	en
dc.subject	Rigid observer	en
dc.subject	Stewart parallel robot	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Gravitation	en
dc.subject.other	Nonlinear systems	en
dc.subject.other	Optimal control systems	en
dc.subject.other	Robots	en
dc.subject.other	White noise	en
dc.subject.other	Parallel robots	en
dc.subject.other	Flexible manipulators	en
dc.title	Observer-based optimal control of flexible Stewart parallel robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1019695602043	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1019695602043	en
heal.language	English	en
heal.publicationDate	2002	en
heal.abstract	The design and simulation of two optimal control schemes for a parallel flexible link manipulator of the Stewart type is presented. The first control scheme combines a nonlinear rigid model of the flexible manipulator with a linear rigid observer, whereas the second scheme uses a nonlinear flexible manipulator model with a linear flexible observer. The majority of the results available in the literature do not address the optimal control problem through the use of observers, as it is done in this paper, for the control of parallel robots. The simulation results have shown in both cases that indeed optimal state-observer-based control is a good candidate for controlling parallel-link manipulators in practice. As expected, the second scheme (flexible model plus flexible observer) gives better results than the first one, achieving faster trajectory tracking. The effects of white noises, applied forces, and zero gravity environment were taken under consideration.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1019695602043	en
dc.identifier.isi	ISI:000177293700009	en
dc.identifier.volume	34	en
dc.identifier.issue	4	en
dc.identifier.spage	489	en
dc.identifier.epage	503	en