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Structured model-based control of redundant parallel robot kinematics
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SYSNO ASEP 0106228 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Structured model-based control of redundant parallel robot kinematics Title Strukturované modelově orientované řízení redundantní paralelní kinematiky robotů Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Píša, P. (CZ)
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Source Title Parallel Kinematic Machines in Research and Practice. The 4th Chemnitz Parallel Kinematics Seminar. Proceedings. - Chemnitz : Verlag Wissenschaftliche Scripten, 2004 / Neugebauer R. - ISBN 3-937524-05-3 Pages s. 701-705 Number of pages 5 s. Action Chemnitz Parallel Kinematics Seminar /4./ Event date 20.04.2004-21.04.2004 VEvent location Chemnitz Country DE - Germany Event type EUR Language eng - English Country DE - Germany Keywords structuring of model-based control ; genetic distance ; reduntancy Subject RIV BC - Control Systems Theory R&D Projects GA101/03/0620 GA ČR - Czech Science Foundation (CSF) GA102/02/0204 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z1075907 - UTIA-B Annotation The paper deals with structuring of model-based control (Sliding Mode and Predictive controllers) for practical industrial applications. The control design is oriented on promising Parallel Kinematic Machines (PKM). It solve both adequately and redundantly actuated structural cases of PKM. In the part of examples, there are comparative figures. They show efficiency of presented model-based control strategies compared with conventional PID/PSD controllers. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2005
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