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National Repository of Grey Literature 1 records found  Search took 0.00 seconds. 
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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