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Advanced control for redundant parallel robots
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SYSNO ASEP 0411074 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Advanced control for redundant parallel robots Author(s) Böhm, Josef (UTIA-B)
Belda, Květoslav (UTIA-B) RID, ORCID
Valášek, M. (CZ)Issue data Bratislava: Slovak University of Technology, 2003 ISBN 80-227-1902-1 Source Title Proceedings of the 14th International Conference on Process Control 2003 / Mikleš J. ; Dvoran J. ; Fikar M. Pages s. 1-7 Publication form CD-ROM - CD-ROM Action International Conference on Process Control 2003 /14./ Event date 08.06.2003-11.06.2003 VEvent location Štrbské pleso Country SK - Slovakia Event type EUR Language eng - English Country SK - Slovakia Keywords redundancy ; PID/PSD control ; predicitve control Subject RIV BC - Control Systems Theory R&D Projects GA101/03/0620 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z1075907 - UTIA-B Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
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