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Concepts of Modeling and Control of Industrial Articulated Robots for Efficient, Sustainable and Safe Production
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SYSNO ASEP 0427609 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Concepts of Modeling and Control of Industrial Articulated Robots for Efficient, Sustainable and Safe Production Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Záda, V. (CZ)Number of authors 2 Source Title 3rd International Chemnitz Manufacturing Colloquium. ICMC 2014. Proceedings Part 1. - Chemnitz : Fraunhofer IWU, 2014 / Neugebauer Reimund - ISBN 978-3-95735-004-6 Pages s. 571-582 Number of pages 12 s. Publication form Print - P Action 3rd International Chemnitz Manufacturing Colloquium. ICMC 2014 Event date 07.04.2014-09.04.2014 VEvent location Chemnitz Country DE - Germany Event type WRD Language eng - English Country DE - Germany Keywords Modeling ; Control ; Manipulator Subject RIV JD - Computer Applications, Robotics R&D Projects GAP102/11/0437 GA ČR - Czech Science Foundation (CSF) Institutional support UTIA-B - RVO:67985556 Annotation The paper deals with advanced modeling and model-based control design concepts for an optimal robot motion and monitoring for safe and efficient operation. The explanation aims at concepts for the composition of suitable mathematical models of robot kinematics and dynamics. In the paper, a control design concept via model-based predictive control is introduced. The design and monitoring of recommended reference signals for safe and efficient process control are discussed. The concepts are demonstrated on six-axis multipurpose robot ABB IRB 140. This robot belongs to the considered class of industrial articulated robots-manipulators. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2015
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