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Design and simulation of predictive control of drives of planar redundant parallel robot
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SYSNO ASEP 0410411 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Design and simulation of predictive control of drives of planar redundant parallel robot Author(s) Böhm, Josef (UTIA-B)
Belda, Květoslav (UTIA-B) RID, ORCID
Valášek, M. (CZ)Issue data Pardubice: University of Pardubice, 2000 ISBN 80-7194-271-5 Source Title Proceedings of the 4th International Scientific-Technical Conference. Process Control 2000. ŘÍP 2000 Pages s. 20-27 Number of pages 8 s. Action Process Control 2000. ŘÍP 2000 /4./ Event date 11.06.2000-14.06.2000 VEvent location Kouty nad Desnou Country CZ - Czech Republic Language eng - English Country CZ - Czech Republic Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) CEZ 1075907 Annotation Actual industrial robots have a low operation speed. This is caused mainly by the max. reachable acceleration for whole velocity interval. Parallel robots seem to be one of the promising solution of this. The paper deals with design and simulation of Generalized Predictive Control (GPC) of such robots. GPC is suitable, because the model of the robot is well known and used Quadratic criterion can be easily modified. And moreover the algorithmization of GPC is relatively simple and suitable for real control. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
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