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Predictive control applied to planar parallel robots
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SYSNO ASEP 0411338 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Predictive control applied to planar parallel robots Title Prediktivní řízení aplikované na rovinné paralelní roboty Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Issue data Prague: IFAC, 2005 Source Title Preprints of the 16th World Congress of the International Federation of Automatic Control / Horáček P. ; Šimandl M. ; Zítek P. Pages s. 1-6 Number of pages 7 s. Publication form DVD-ROM - DVD-ROM Action IFAC World Congress /16./ Event date 03.07.2005-08.07.2005 VEvent location Prague Country CZ - Czech Republic Event type WRD Language eng - English Country CZ - Czech Republic Keywords predictive control ; redundant manipulators ; state-space realization Subject RIV BC - Control Systems Theory R&D Projects GA101/03/0620 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10750506 - UTIA-B (2005-2011) Annotation The design of suitable control is essential part of application of parallel robots. Together with appropriate control, the parallel robots are promising way to improve accuracy and speed of machine tools in industry. This paper deals with the design and results of one control approach represented by predictive control in absolute formulation. It explains exact linearization of used, initially nonlinear models, which are transformed to discrete space form. Control algorithm is derived in square-root form. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2006
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