Original title: State-space generalized predictive control for redundant parallel robots
Authors: Belda, Květoslav ; Böhm, Josef ; Valášek, M.
Document type: Papers
Conference/Event: Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute, Praha (CZ), 2002-06-23 / 2002-07-03
Year: 2002
Language: eng
Abstract: The paper deals with the design and properties of Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use Predictive control for compliance of additional requirements (smooth trends of actuators or fulfillment antibacklash condition).
Keywords: predictive control; quadratic criterion; redundancy
Project no.: CEZ:AV0Z1075907 (CEP), 0204512-1002045
Funding provider: IG ČVUT
Host item entry: Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute

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/belda-0410813.pdf
Original record: http://hdl.handle.net/11104/0130900

Permalink: http://www.nusl.cz/ntk/nusl-34921


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Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers