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Generalized Predictive Control for real-time use in area of parallel robots
- 1.0410983 - UTIA-B 20020197 RIV SI eng C - Conference Paper (international conference)
Belda, Květoslav
Generalized Predictive Control for real-time use in area of parallel robots.
Strunjan: Jožef Stefan Institute, 2002. ISBN 961-6303-40-6. In: Proceedings of the 3rd International PhD Workshop: Advances in Supervision and Control Systems, Young Generation Viewpoint. - (Rakar, A.), s. 1-7
[International PhD Workshop /3./. Strunjan (SI), 01.10.2002-04.10.2002]
R&D Projects: GA ČR GA102/02/0204
Grant - others:IGS(CZ) CTU0204512
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-0410983.pdf
The paper deals with Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and square 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 algorithm for fulfillment of some additional requirements like actuator smoothing or antibacklash control and it shows practical results.
Permanent Link: http://hdl.handle.net/11104/0131070
Number of the records: 1