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A singularity-robust LQR controller for parallel robots

Author
Bordalba, R.; Porta, J.; Ros, L.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Towards a robotic society: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre
First page
270
Last page
276
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/IROS.2018.8594084
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Repository
http://hdl.handle.net/2117/130001 Open in new window
URL
https://ieeexplore.ieee.org/document/8594084 Open in new window
Abstract
Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free regions of the workspace. However, this comes at the expense of reducing the motion range of the robot substantially. It is for this reason that, recently, efforts are underway to control singularity- crossing trajectories. This paper proposes a reliable controller to stabil...
Citation
Bordalba, R.; Porta, J.; Ros, L. A singularity-robust LQR controller for parallel robots. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 270-276.
Keywords
LQR, Manifold, Optimal Control, Parallel Robots, Singularites, Singularity-Robust, linear quadratic control, manipulators, optimal control, robot dynamics, robot kinematics
Group of research
KRD - Kinematics and Robot Design

Participants