Počet záznamů: 1
State-space Generalized Predicitve Control for redundant parallel robots
- 1.0411126 - UTIA-B 20030113 RIV US eng J - Článek v odborném periodiku
Belda, Květoslav - Böhm, Josef - Valášek, M.
State-space Generalized Predicitve Control for redundant parallel robots.
Mechanics Based Design of Structures and Machines: an international journal. Roč. 31, č. 3 (2003), s. 413-432. ISSN 1539-7734. E-ISSN 1539-7742
Grant CEP: GA ČR GA101/03/0620
Grant ostatní: CTU(CZ) 0204512
Výzkumný záměr: CEZ:AV0Z1075907
Klíčová slova: parallel robot construction * generalized predictive control * drive redundancy
Kód oboru RIV: BC - Teorie a systémy řízení
Impakt faktor: 0.000, rok: 2003
http://library.utia.cas.cz/separaty/historie/belda-0411126.pdf
The paper deals with the design and properties of Generalized Predictive Control for path control of redundant parallel robots. Redundant parallel classification means redundant number of actuators. Control of such structures suffers from several new control problems like potential inconsistency of steady state positions or non-uniqueness of control actions. Classical direct derivation and modification based on square root two-step design of control actions for solving the control problem are explained.
Trvalý link: http://hdl.handle.net/11104/0131213
Počet záznamů: 1