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State-space generalized predictive control for redundant parallel robots
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
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).
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The direct kinematics of redundant parallel robot for predictive control
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
This paper deals with the design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and computation of high level control based on knowledge of such model, eg. Predictive Control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.
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Tuning of MIMO LQ adaptive controller
Böhm, Josef
The paper deals with the adaptive multivariate controllers based on parameter estimation of a regression model and controller synthesis based on the minimization of a quadratic criterion. It discusses the posibilities to choose penalties in such a way that certain user requirements are satisfied.
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Design and simulation of predictive control of drives of planar redundant parallel robot
Böhm, Josef ; Belda, Květoslav ; Valášek, M.
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.
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