Počet záznamů: 1
The antibacklash task in the path control of redundant parallel robots
- 1.0410583 - UTIA-B 20010052 RIV SK eng C - Konferenční příspěvek (zahraniční konf.)
Böhm, Josef - Belda, Květoslav - Valášek, M.
The antibacklash task in the path control of redundant parallel robots.
Bratislava: Slovak University of Technology, 2001. ISBN 80-227-1542-5. In: Proceedings of the 13th International Conference on Process Control '01. - (Mikleš, J.; Dvoran, J.; Fikar, M.)
[International Conference on Process Control '01 /13./. Štrbské Pleso (SK), 11.06.2001-14.06.2001]
Grant CEP: GA ČR GA101/99/0729
Výzkumný záměr: AV0Z1075907
Klíčová slova: redundant parallel robot * backlash problem * matrix pseudoinversion
Kód oboru RIV: BC - Teorie a systémy řízení
http://library.utia.cas.cz/separaty/historie/bohm-0410583.pdf
The paper deals with solution of the antibacklash task in the new concept of the robots based on the parallel construction improved by redundant action. This type of the robot is described by Lagrange's equations of mixed tipe. On their base the used controls (Inverse Dynamics Control, Sliding Mode Control and Generalized Predictive Control) are designed. This paper firstly discusses solution of systems with the deficient rank matrix inverse and then general utilization of the Quadratic programming.
Trvalý link: http://hdl.handle.net/11104/0130672
Počet záznamů: 1