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The antibacklash task in the path control of redundant parallel robots (subtopic: preparation of real-time control)
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SYSNO ASEP 0410720 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title The antibacklash task in the path control of redundant parallel robots (subtopic: preparation of real-time control) Author(s) Belda, Květoslav (UTIA-B) RID, ORCID Issue data Budapest: CAI, 2001 Source Title The 2nd International PhD Student Workshop on Systems and Control - "Young Generation's Viewpoint". Proceedings Pages s. 11-15 Number of pages 5 s. Action International PhD Student Workshop on Systems and Control /2./ Event date 17.09.2001-20.09.2001 VEvent location Balatonfüred Country HU - Hungary Event type EUR Language eng - English Country HU - Hungary Keywords antibacklash task ; redundant paraller robot ; pseudoinverse Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) GA102/99/1564 GA ČR - Czech Science Foundation (CSF) CEZ 1075907 Annotation The draft paper deals with solution of the antibacklash task of the redundant parallel robots. This type of the robots is generally described by Lagrange˙s equations of mixed type, on which base the used controls (Inverse Dynamics Control (IDC), Sliding Mode Control (SMC) and Predictive Control (GPC) are designed. This paper discusses the two following ways. The first is based on solution of systems with the deficient rank matrix inversion and the second is general use of the Quadratic programming (QP). Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
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