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Kinematics and dynamics of parallel structures for control design
Belda, Květoslav
The presentation deals with the kinematic and dynamic analysis of parallel structures of robotic systems. From the analysis, the model of the structure is obtained and used for simulation, control design, trajectory planning, determination of geometry of structure components (calibration), singular analysis and force construction design (choice of the drives). As an auspicious control approach is model-based approach that enable to effectively design control actions in comparison with classical approaches.
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Parallel robotic structures and their control in SIMULINK environment
Belda, Květoslav
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.
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Proceedings of the 4th International PhD Workshop Information Technologies & Control. Young Generation Viewpoint
Belda, Květoslav
Proceedings of the 4th Int. PhD Workshop: Information Technologies & Control (IT&C), Young Generation Viewpoint, Libverda 2003' collects contributions of active participans of the Workshop. Their topics are focused on control theory, system identification, modelling of complex systems, image processing, artificial inteligence, decision making, software issues, real-life applications and others. It maps research of young scientists and engineers from Slovenia, Hungary, Slovakia, Poland and Czech Republic.
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Singular cases of the planar parallel robot
Belda, Květoslav ; Stejskal, V.
Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.
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Real-time simulation and visualization of high-level model-based control of redundant parallel robots
Belda, Květoslav
The paper briefly introduces examples of high-level model-based control (Sliding Mode Control and Generalized Predictive Control) applied to the redundant parallel robots. The objective is a presentation of using MATLAB˙SIMULINK environment for real-time simulation and visualization of control of these robots. Implementation is accomplished by combination of C MEX S-Functions and ordinary C MEX-Files within SIMULINK scheme under support of Real-Time Windows Target (2.1) and Virtual Reality Toolbox (2.0).
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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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Implementation of Sliding Mode Control in SIMULINK 4.1 (R12.1)
Belda, Květoslav
The paper briefly introduces Sliding Mode Control (SMC) of the planar redundant parallel robot. This type of the robots seems to be one of the promising ways to solve the problems of accuracy and speed. The main goal is presentation of using MATLAB-SIMULINK environment verion 4.1 (R12.1) for simulation of such control of the robot. Implementation is accomplished by combination of S-Function and ordinary Function, both programmed in C code as mex Functions.
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