Parallel robotic structures and their control in SIMULINK environment

0411255 - UTIA-B 20030242 CZ eng K - Conference Paper (Czech conference)
Belda, Květoslav
Parallel robotic structures and their control in SIMULINK environment.
Praha: VŠCHT, 2003. ISBN 80-7080-526-9. In: MATLAB 2003. Sborník příspěvků 11. ročníku konference., s. 63-71
[MATLAB 2003. Praha (CZ), 25.11.2003]
R&D Projects: GA ČR GA101/03/0620; GA ČR GA102/02/0204
Institutional research plan: CEZ:AV0Z1075907
Keywords : parallel structures * SIMULINK * absolute and incremental predictive control
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0411255.pdf

Machine centers for industrial purposes should be accurate and proportionally flexible. One possible direction solving such requirements is utilization of parallel robots. In the paper, modeling and control of such robots are discussed. They are demonstrated by comparative SIMULINK simulation of PID/PSD controllers and discrete model-based predictive controllers. Predictive controllers design control with either mechanical or global model. The global model, in comparison with mechanical, includes drives.
Permanent Link: http://hdl.handle.net/11104/0131340