The antibacklash task in the path control of redundant parallel robots (subtopic: preparation of real-time control)

0410720 - UTIA-B 20010189 RIV HU eng C - Konferenční příspěvek (zahraniční konf.)
Belda, Květoslav
The antibacklash task in the path control of redundant parallel robots (subtopic: preparation of real-time control).
Budapest: CAI, 2001. In: The 2nd International PhD Student Workshop on Systems and Control - "Young Generation's Viewpoint". Proceedings., s. 11-15
[International PhD Student Workshop on Systems and Control /2./. Balatonfüred (HU), 17.09.2001-20.09.2001]
Grant CEP: GA ČR GA101/99/0729; GA ČR GA102/99/1564
Grant ostatní: IGS ČVUT(CZ) 300104412
Výzkumný záměr: AV0Z1075907
Klíčová slova: antibacklash task * redundant paraller robot * pseudoinverse
Kód oboru RIV: BC - Teorie a systémy řízení
http://library.utia.cas.cz/separaty/historie/belda-0410720.pdf

The draft paper deals with solution of the antibacklash task of the redundant parallel robots. This type of the robots is generally described by Lagrange˙s equations of mixed type, on which base the used controls (Inverse Dynamics Control (IDC), Sliding Mode Control (SMC) and Predictive Control (GPC) are designed. This paper discusses the two following ways. The first is based on solution of systems with the deficient rank matrix inversion and the second is general use of the Quadratic programming (QP).
Trvalý link: http://hdl.handle.net/11104/0130808