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State-space Generalized Predicitve Control for redundant parallel robots
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SYSNO ASEP 0411126 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Ostatní články Title State-space Generalized Predicitve Control for redundant parallel robots Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Source Title Mechanics Based Design of Structures and Machines: an international journal - ISSN 1539-7734
Roč. 31, č. 3 (2003), s. 413-432Number of pages 20 s. Language eng - English Country US - United States Keywords parallel robot construction ; generalized predictive control ; drive redundancy Subject RIV BC - Control Systems Theory R&D Projects GA101/03/0620 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z1075907 - UTIA-B Annotation The 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
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