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Study of control of planar redundant parallel robot
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SYSNO ASEP 0410538 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Study of control of planar redundant parallel robot Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Issue data Calgary: Acta Press, 2001 ISBN 0-88986-316-4 Source Title Proceedings of the IASTED International Conference Modelling, Identification, and Control / Hamza M. H. Pages s. 694-699 Number of pages 6 s. Action IASTED 2001 Event date 19.02.2001-22.02.2001 VEvent location Innsbruck Country AT - Austria Event type WRD Language eng - English Country CA - Canada Keywords planar redundant parallel robot ; control (GPC, IDC, SMC) ; nonlinear system Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) CEZ 1075907 Annotation Industrial robots and manipulators are being constantly developed in order to improve their accuracy and speed. Parallel robots seem to be the promising way of the solution to this problem. This paper deals with the design and simulation of control of one such robot. Generalized Predictive Control (GPC), Inverse Dynamics Control (IDC) and Sliding Mode Control (SMC) are discussed here. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Number of the records: 1