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State-space Generalized Predicitve Control for redundant parallel robots

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    SYSNO ASEP0411126
    Document TypeJ - Journal Article
    R&D Document TypeJournal Article
    Subsidiary JOstatní články
    TitleState-space Generalized Predicitve Control for redundant parallel robots
    Author(s) Belda, Květoslav (UTIA-B) RID
    Böhm, Josef (UTIA-B)
    Valášek, M. (CZ)
    Source TitleMechanics Based Design of Structures and Machines: an international journal - ISSN 1539-7734
    Roč. 31, č. 3 (2003), s. 413-432
    Number of pages20 s.
    Languageeng - English
    CountryUS - United States
    Keywordsparallel robot construction ; generalized predictive control ; drive redundancy
    Subject RIVBC - Control Systems Theory
    R&D ProjectsGA101/03/0620 GA ČR - Czech Science Foundation (CSF)
    CEZAV0Z1075907 - UTIA-B
    AnnotationThe paper deals with the design and properties of Generalized Predictive Control for path control of redundant parallel robots. Redundant parallel classification means redundant number of actuators. Control of such structures suffers from several new control problems like potential inconsistency of steady state positions or non-uniqueness of control actions. Classical direct derivation and modification based on square root two-step design of control actions for solving the control problem are explained.
    WorkplaceInstitute of Information Theory and Automation
    ContactMarkéta Votavová,, Tel.: 266 052 201.