Decentralized and centralized control of redundant parallel robot constructions

0410823 - UTIA-B 20020037 RIV PT eng C - Conference Paper (international conference)
Böhm, Josef - Belda, Květoslav - Valášek, M.
Decentralized and centralized control of redundant parallel robot constructions.
Lisboa: Instituto Superior Técnico, 2002. ISBN 972-9027-03-X. In: Proceedings of the 10th Mediterranean Conference on Control and Automation - MED 2002.
[Mediterranean Conference on Control and Automation - MED 2002 /10./. Lisboa (PT), 09.07.2002-12.07.2002]
R&D Projects: GA ČR GA101/99/0729
Institutional research plan: CEZ:AV0Z1075907
Keywords : DAE-ODE robot model * PID control * generalized predictive control (GPC)
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/bohm-0410823.pdf

The fundamental task of the parallel robot construction, espetially redundantly actuated, is to provide effective cooperation among all drives. This paper summarises a set of the available control approaches adjusted to redundant case: decentralized control with reduction of the unproductive part of I/S channels, the simple centralized control and one example of the high level control - Generalized Predictive Control. (Supported by IGS of CTU [CTU 0204512-1002045, 2002]).
Permanent Link: http://hdl.handle.net/11104/0130910