Original title: Parallel robotic structures and their control in SIMULINK environment
Authors: Belda, Květoslav
Document type: Papers
Conference/Event: MATLAB 2003., Praha (CZ), 2003-11-25
Year: 2003
Language: eng
Abstract: 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.
Keywords: absolute and incremental predictive control; parallel structures; SIMULINK
Project no.: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP), GA102/02/0204 (CEP)
Funding provider: GA ČR, GA ČR
Host item entry: MATLAB 2003. Sborník příspěvků 11. ročníku konference

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-0411255.pdf
Original record: http://hdl.handle.net/11104/0131340

Permalink: http://www.nusl.cz/ntk/nusl-35031


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