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State-space generalized predictive control for redundant parallel robots
- 1.0410813 - UTIA-B 20020027 RIV CZ eng C - Conference Paper (international conference)
Belda, Květoslav - Böhm, Josef - Valášek, M.
State-space generalized predictive control for redundant parallel robots.
Praha: Czech Technical University, 2002. In: Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute. - (Schiehlen, W.; Valášek, M.), s. 9-14
[Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute. Praha (CZ), 23.06.2002-03.07.2002]
Grant - others:IG ČVUT(CZ) 0204512-1002045
Institutional research plan: CEZ:AV0Z1075907
Keywords : predictive control * redundancy * quadratic criterion
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0410813.pdf
The paper deals with the design and properties of Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use Predictive control for compliance of additional requirements (smooth trends of actuators or fulfillment antibacklash condition).
Permanent Link: http://hdl.handle.net/11104/0130900
Number of the records: 1