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Advanced control for redundant parallel robots
- 1.0411074 - UTIA-B 20030061 RIV SK eng C - Conference Paper (international conference)
Böhm, Josef - Belda, Květoslav - Valášek, M.
Advanced control for redundant parallel robots.
Bratislava: Slovak University of Technology, 2003. ISBN 80-227-1902-1. In: Proceedings of the 14th International Conference on Process Control 2003. - (Mikleš, J.; Dvoran, J.; Fikar, M.), s. 1-7
[International Conference on Process Control 2003 /14./. Štrbské pleso (SK), 08.06.2003-11.06.2003]
R&D Projects: GA ČR GA101/03/0620
Institutional research plan: CEZ:AV0Z1075907
Keywords : redundancy * PID/PSD control * predicitve control
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/bohm-0411074.pdf
One of the trends in robotics is a study of parallel structures, over-actuated, drive-redundant systems, and their control. The simplest, decentralized control approach considered means taking the robots as a set of single input-output systems (setSISO). As an alternative is i.e. model-based centralized Generalized Predictive Control (GPC). It pursues global control design corresponding with actual requirement to robot movement. The paper presents the square-root GPC in both absolute and incremental form.
Permanent Link: http://hdl.handle.net/11104/0131161
Number of the records: 1