Number of the records: 1
The antibacklash task in the path control of redundant parallel robots
- 1.
SYSNO ASEP 0410583 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 Author(s) Böhm, Josef (UTIA-B)
Belda, Květoslav (UTIA-B) RID, ORCID
Valášek, M. (CZ)Issue data Bratislava: Slovak University of Technology, 2001 ISBN 80-227-1542-5 Source Title Proceedings of the 13th International Conference on Process Control '01 / Mikleš J. ; Dvoran J. ; Fikar M. Publication form CD-ROM - CD-ROM Action International Conference on Process Control '01 /13./ Event date 11.06.2001-14.06.2001 VEvent location Štrbské Pleso Country SK - Slovakia Event type EUR Language eng - English Country SK - Slovakia Keywords redundant parallel robot ; backlash problem ; matrix pseudoinversion Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) CEZ 1075907 Annotation The paper deals with solution of the antibacklash task in the new concept of the robots based on the parallel construction improved by redundant action. This type of the robot is described by Lagrange's equations of mixed tipe. On their base the used controls (Inverse Dynamics Control, Sliding Mode Control and Generalized Predictive Control) are designed. This paper firstly discusses solution of systems with the deficient rank matrix inverse and then general utilization of the Quadratic programming. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Number of the records: 1