The antibacklash task in the path control of redundant parallel robots

0410583 - UTIA-B 20010052 RIV SK eng C - Conference Paper (international conference)
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]
R&D Projects: GA ČR GA101/99/0729
Institutional research plan: AV0Z1075907
Keywords : redundant parallel robot * backlash problem * matrix pseudoinversion
Subject RIV: BC - Control Systems Theory
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.
Permanent Link: http://hdl.handle.net/11104/0130672