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Hybrid moment/position control of a parallel robot

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In this paper, a hybrid moment/position controller in task space is proposed for tasks involving a contact between a robot and its environment. We consider a contour-tracking task performed by a six DOF (Degrees Of Freedom) parallel robot. The task space dynamic model of the robot in contact with its environment, seen as a black box, is estimated by a MLP-NN (MultiLayer Perceptron Neural Network). The neural network non-linearity is treated using Taylor series expansion. An adaptation algorithm of the neural parameters resulting from a closed-loop stability analysis is proposed. The performance of the proposed controller is validated on the C5 parallel robot by considering two different environments: rigid and compliant.

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Correspondence to Mohamed El Hossine Daachi.

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Recommended by Editorial Board member Yangmin Li under the direction of Editor Hyouk Ryeol Choi.

Mohamed El Hossine Daachi received his engineering and Magister degrees in electronics from the University of Setif, Algeria in 1996 and 2005, respectively. Currently he prepared his PhD thesis in robotics. He is an Assistant Professor at the University of BBA, Algeria. His main research is about neural control and adaptive control applied to robotics systems.

Brahim Achili received his Master degree in distributed system and real time from the University of Paris Est Créteil-UPEC in 2006, and Ph.D. degree in computer science and robotics from the University of Paris 8 in 2009. His research interests include artificial intelligence, control and identification of complex systems.

Boubaker Daachi received his M.Sc. in computer science from the University of Setif, Algeria in 1995 and Ph.D. in Robotics from the University of Versailles, France in 2000. He is currently assistant professor at the university of Paris 12 Val-de-Marne. His research concerns the use of artificial intelligence techniques in Robotics, Sensor Networks and Ubiquitous Systems.

Yacine Amirat received his Ph.D. degree in computer science and robotics from the University of Paris 6 (Pierre et Marie Curie), France, in 1989. In 1990, he cocreated the Laboratory of Computer Sciences and Robotics from University Paris Est Créteil-UPEC, France. In 1996, he receives the Habilitation degree in the field of artificial intelligence and control of complex systems from the same university, where he is currently professor and head of LISSI Lab. His research interests include artificial intelligence, soft computing, knowledge processing, control of complex systems. Application fields are robotics, pervasive and distributed systems. He is scientific director of several research projects and has published more than 100 papers in scientific journals, books and conference proceedings. He continuously serves as Technical Committee Member, session Chair, session organizer and associate editor of several conferences (ICRA’06, ICRA’07, ICRA’08, ICRA’09, ICRA’10, IROS’11, INCOM’06, ICINC-O’05, ICINCO’06, ICINCO’07, ICINCO’09, ICINCO’12). Pr. AMIRAT is member of IEEE Computational Intelligence Society and IEEE Robotics and Automation Society. He is also in charge of a new SIG dedicated to Communications and intelligent softwares for Networked Robots, within the new TC “communications software” (IEEE ComSoc).

Djamel Chikouche was born in M’sila, Algeria, in August 1958. He received his DES degree in physical electronics from the University of Constantine, Algeria, in 1981, the Master of Science degree in electrical engineering from Ohio State University, Columbus, Ohio, USA, in 1984 and his PhD degree in digital signal processing from the University of Setif, Algeria, in 2000. In September 1984, he joined the University of Setif, in Setif, Algeria, as a Faculty Member, and he got the rank of Professor since June 2005. In October 2006, he joined the University of M’sila, Algeria as a Professor in electronics. Between 1984 and till now, he was carrying out research at the LIS Laboratory, University of Setif. Since 1984, he has been actively involved in the research areas of digital signal/image processing, digital filter design, hardware implementation of digital filters, systolic architectures, fast Fourier transform algorithms, gear diagnosis, SEMG signal modelling, non linear systems and detection of LOS and Multipath signals in global navigation satellite systems.

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Daachi, M.E.H., Achili, B., Daachi, B. et al. Hybrid moment/position control of a parallel robot. Int. J. Control Autom. Syst. 10, 536–546 (2012).

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