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From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study

Abstract : This paper deals with control of parallel robots, where different controllers are proposed and compared. It demonstrates the strength of model-based controllers over the non-model-based ones when dealing with parallel kinematic manipulators known with their high nonlinearity, time-varying parameters and uncertainties. More precisely, adaptive model-based algorithms are the preferred control solutions for such kind of manipulators, thanks to their adjustable-parameters feature which is more adequate to the varying and non-accurate nature of parallel kinematic manipulators. These facts are fulfilled here by numerical simulations and real-time experiments on a four-degree-of-freedom parallel robot named VELOCE.
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Contributor : Hussein Saied Connect in order to contact the contributor
Submitted on : Wednesday, November 8, 2017 - 3:34:26 PM
Last modification on : Tuesday, October 19, 2021 - 11:00:17 AM
Long-term archiving on: : Friday, February 9, 2018 - 12:30:37 PM


H. Saied et al, From Non-Model...
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  • HAL Id : hal-01631006, version 1



Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot. From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study. ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon. ⟨hal-01631006⟩



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