Number of the records: 1
State-space generalized predictive control for redundant parallel robots
- 1.
SYSNO ASEP 0410813 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title State-space generalized predictive control for redundant parallel robots Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Issue data Praha: Czech Technical University, 2002 Source Title Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute / Schiehlen W. ; Valášek M. Pages s. 9-14 Number of pages 6 s. Action Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute Event date 23.06.2002-03.07.2002 VEvent location Praha Country CZ - Czech Republic Event type WRD Language eng - English Country CZ - Czech Republic Keywords predictive control ; redundancy ; quadratic criterion Subject RIV BC - Control Systems Theory CEZ AV0Z1075907 - UTIA-B Annotation The paper deals with the design and properties of Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use Predictive control for compliance of additional requirements (smooth trends of actuators or fulfillment antibacklash condition). Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Number of the records: 1