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State-space Generalized Predicitve Control for redundant parallel robots

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    0411126 - UTIA-B 20030113 RIV US eng J - Journal Article
    Belda, Květoslav - Böhm, Josef - Valášek, M.
    State-space Generalized Predicitve Control for redundant parallel robots.
    Mechanics Based Design of Structures and Machines: an international journal. Roč. 31, č. 3 (2003), s. 413-432. ISSN 1539-7734
    R&D Projects: GA ČR GA101/03/0620
    Grant - others:CTU(CZ) 0204512
    Institutional research plan: CEZ:AV0Z1075907
    Keywords : parallel robot construction * generalized predictive control * drive redundancy
    Subject RIV: BC - Control Systems Theory

    The paper deals with the design and properties of Generalized Predictive Control for path control of redundant parallel robots. Redundant parallel classification means redundant number of actuators. Control of such structures suffers from several new control problems like potential inconsistency of steady state positions or non-uniqueness of control actions. Classical direct derivation and modification based on square root two-step design of control actions for solving the control problem are explained.
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