Tarun K. Bera and Arun K. Samantaray
System inversion, bond graph, overwhelming controller, model-based control, parallel manipulator
Overwhelming controllers have been successfully used in the past for trajectory and impedance control. An overwhelming con- troller uses an image or copy of the system model in the model- based controller. This model represents the kinematic constraints for implicit system inversion. The controller output is used to actuate the controlled system through a high feedback gain, which ensures that the dynamics of the controller overwhelms the plant dynamics. The overwhelming controller implementation for a serial robotic system is a straightforward task. However, implementation of a bond graph model-based overwhelming controller for a parallel manipulator shows up a few difficult causal loops. Removal of these causal loops and a few other subtle modifications yield a compu- tationally efficient inverse model for real-time implementation. As validation of the developed approach, trajectory tracking in con- strained planar welding operation is considered. The corresponding simulation results are presented.
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