2013
EMSS 2013 Proceeding
Multi-controllers approach applied to a wrist of a robot
Authors: Youcef Zennir, Pascal Mouille
Abstract
The work presented in this paper focuses on the multi- controller approach of control. In the first time we modeled the process (wrist of a Staubli robot RX 90) and we identified local parametric models around operating points. The originality of our approach lies in the use of an integrator in the process to avoid the use of the operating points in an explicit way in the control law, and the fact that several controllers scanned linear type RST with the delta operator (?), one hand a working (free switching) to develop the control signal sent to the process. We present the results obtained in the different simulations before opening perspectives for future work.
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