Název:
Parallel robotic structures and their control in SIMULINK environment
Autoři:
Belda, Květoslav Typ dokumentu: Příspěvky z konference Konference/Akce: MATLAB 2003., Praha (CZ), 2003-11-25
Rok:
2003
Jazyk:
eng
Abstrakt: Machine centers for industrial purposes should be accurate and proportionally flexible. One possible direction solving such requirements is utilization of parallel robots. In the paper, modeling and control of such robots are discussed. They are demonstrated by comparative SIMULINK simulation of PID/PSD controllers and discrete model-based predictive controllers. Predictive controllers design control with either mechanical or global model. The global model, in comparison with mechanical, includes drives.
Klíčová slova:
absolute and incremental predictive control; parallel structures; SIMULINK Číslo projektu: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP), GA102/02/0204 (CEP) Poskytovatel projektu: GA ČR, GA ČR Zdrojový dokument: MATLAB 2003. Sborník příspěvků 11. ročníku konference