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Real-time simulation and visualization of high-level model-based control of redundant parallel robots
- 1.0410972 - UTIA-B 20020186 RIV CZ eng C - Conference Paper (international conference)
Belda, Květoslav
Real-time simulation and visualization of high-level model-based control of redundant parallel robots.
Praha: VŠCHT, 2002. ISBN 80-7080-500-5. In: MATLAB 2002. Sborník příspěvků 10. ročníku konference., s. 21-27
[MATLAB 2002. Praha (CZ), 07.11.2002]
R&D Projects: GA ČR GA102/02/0204
Grant - others:CTU IG(CZ) 0204512
Institutional research plan: CEZ:AV0Z1075907
Keywords : prediktive control * sliding mode control * real-time simulation
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0410972.pdf
The paper briefly introduces examples of high-level model-based control (Sliding Mode Control and Generalized Predictive Control) applied to the redundant parallel robots. The objective is a presentation of using MATLAB˙SIMULINK environment for real-time simulation and visualization of control of these robots. Implementation is accomplished by combination of C MEX S-Functions and ordinary C MEX-Files within SIMULINK scheme under support of Real-Time Windows Target (2.1) and Virtual Reality Toolbox (2.0).
Permanent Link: http://hdl.handle.net/11104/0131059
Number of the records: 1