Centralized non-linear model predictive control of a redundantly actuated parallel manipulator

Abstract

In this paper a centralized non-linear model predictive control (NMPC) for redundantly actuated Parallel Kinematic Machines (PKM) is proposed. The controller has the structure of an augmented PD controller with variable gains. These gains are intended to minimize the future tracking error. With this approach the computation error is kept low. To emphasize the robustness of the method, experiments with a planar 2DOF redundantly actuated PKM with industrial torque motors are presented. © Springer Science+Business Media Dordrecht 2013.