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Prediktivní řízení aplikované na rovinné paralelní roboty
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The design of suitable control is essential part of application of parallel robots. Together with appropriate control, the parallel robots are promising way to improve accuracy and speed of machine tools in industry. This paper deals with the design and results of one control approach represented by predictive control in absolute formulation. It explains exact linearization of used, initially nonlinear models, which are transformed to discrete space form. Control algorithm is derived in square-root form.
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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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PREDICTIVE CONTROL – ALGORITHMS, TESTS AND WEB PUBLICATION VIA MATLAB - SIMULINK ENVIRONMENT (R 14)
Belda, Květoslav ; Píša, P.
Predictive control is one of control strategies, which optimize control actions within certain time range. Control actions are not designed only for current state of the system, but also they are optimized for the following time instants. Presented paper makes simple overview of Predictive control algorithms and their tests under MATLAB-Simulink environment. Furthermore, it presents Web publication of the MATLAB scripts and functions and Simulink schemes used for Predictive control.
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Modelově orientované řízení pro paralelní kinematiky robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The paper deals with the application of the model-based control approach within robotic system that includes the parallel structure and adequate drives. As an example, several prototypes of planar parallel redundant structures driven by DC motors are used. The suitable form of mathematical model, both mechanical and drive part, will be introduced and subsequently used for control design. The design is based on discrete predictive control, which can compete and surpass the classical feedback strategies.
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Studie prediktivních řídicích algoritmů pro paralení struktury robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
This paper focuses on several possible variants of discrete predictive algorithms for design of control actions applied to the parallel robot structures; i.e. absolute, incremental, incremental with nonlinear simulative prediction and predictive algorithm, used for the planning of quadratically-optimal trajectories. The control design is based on mathematical models describing the mechanical parallel robotic structures. All algorithms are illustrated by simulation in MATLAB - SIMULINK environment.
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