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The antibacklash task in the path control of redundant parallel robots

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    SYSNO ASEP0410583
    Document TypeC - Proceedings Paper (int. conf.)
    R&D Document TypeConference Paper
    TitleThe 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 dataBratislava: Slovak University of Technology, 2001
    ISBN80-227-1542-5
    Source TitleProceedings of the 13th International Conference on Process Control '01 / Mikleš J. ; Dvoran J. ; Fikar M.
    Publication formCD-ROM - CD-ROM
    ActionInternational Conference on Process Control '01 /13./
    Event date11.06.2001-14.06.2001
    VEvent locationŠtrbské Pleso
    CountrySK - Slovakia
    Event typeEUR
    Languageeng - English
    CountrySK - Slovakia
    Keywordsredundant parallel robot ; backlash problem ; matrix pseudoinversion
    Subject RIVBC - Control Systems Theory
    R&D ProjectsGA101/99/0729 GA ČR - Czech Science Foundation (CSF)
    CEZ1075907
    AnnotationThe 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.
    WorkplaceInstitute of Information Theory and Automation
    ContactMarkéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.

Number of the records: 1  

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