Original title: Design and simulation of predictive control of drives of planar redundant parallel robot
Authors: Böhm, Josef ; Belda, Květoslav ; Valášek, M.
Document type: Papers
Conference/Event: Process Control 2000. ŘÍP 2000 /4./, Kouty nad Desnou (CZ), 2000-06-11 / 2000-06-14
Year: 2000
Language: eng
Abstract: Actual industrial robots have a low operation speed. This is caused mainly by the max. reachable acceleration for whole velocity interval. Parallel robots seem to be one of the promising solution of this. The paper deals with design and simulation of Generalized Predictive Control (GPC) of such robots. GPC is suitable, because the model of the robot is well known and used Quadratic criterion can be easily modified. And moreover the algorithmization of GPC is relatively simple and suitable for real control.
Project no.: AV0Z1075907 (CEP), GA101/99/0729 (CEP)
Funding provider: GA ČR
Host item entry: Proceedings of the 4th International Scientific-Technical Conference. Process Control 2000. ŘÍP 2000

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: http://library.utia.cas.cz/separaty/historie/bohm-0410411.pdf
Original record: http://hdl.handle.net/11104/0130500

Permalink: http://www.nusl.cz/ntk/nusl-34805


The record appears in these collections:
Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers