Number of the records: 1
Design and simulation of predictive control of drives of planar redundant parallel robot
- 1.0410411 - UTIA-B 20000127 RIV CZ eng C - Conference Paper (international conference)
Böhm, Josef - Belda, Květoslav - Valášek, M.
Design and simulation of predictive control of drives of planar redundant parallel robot.
Pardubice: University of Pardubice, 2000. ISBN 80-7194-271-5. In: Proceedings of the 4th International Scientific-Technical Conference. Process Control 2000. ŘÍP 2000., s. 20-27
[Process Control 2000. ŘÍP 2000 /4./. Kouty nad Desnou (CZ), 11.06.2000-14.06.2000]
R&D Projects: GA ČR GA101/99/0729
Institutional research plan: AV0Z1075907
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/bohm-0410411.pdf
Actual industrial robots have a low operation speed. This is caused mainly by the max. reachable acceleration for whole velocity interval. Parallel robots seem to be one of the promising solution of this. The paper deals with design and simulation of Generalized Predictive Control (GPC) of such robots. GPC is suitable, because the model of the robot is well known and used Quadratic criterion can be easily modified. And moreover the algorithmization of GPC is relatively simple and suitable for real control.
Permanent Link: http://hdl.handle.net/11104/0130500
Number of the records: 1