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Study of control of planar redundant parallel robot
- 1.0410538 - UTIA-B 20010007 RIV CA eng C - Conference Paper (international conference)
Belda, Květoslav - Böhm, Josef - Valášek, M.
Study of control of planar redundant parallel robot.
Calgary: Acta Press, 2001. ISBN 0-88986-316-4. In: Proceedings of the IASTED International Conference Modelling, Identification, and Control. - (Hamza, M.), s. 694-699
[IASTED 2001. Innsbruck (AT), 19.02.2001-22.02.2001]
R&D Projects: GA ČR GA101/99/0729
Institutional research plan: AV0Z1075907
Keywords : planar redundant parallel robot * control (GPC, IDC, SMC) * nonlinear system
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/bohm-0410538.pdf
Industrial robots and manipulators are being constantly developed in order to improve their accuracy and speed. Parallel robots seem to be the promising way of the solution to this problem. This paper deals with the design and simulation of control of one such robot. Generalized Predictive Control (GPC), Inverse Dynamics Control (IDC) and Sliding Mode Control (SMC) are discussed here.
Permanent Link: http://hdl.handle.net/11104/0130627
Number of the records: 1