The antibacklash task in the path control of redundant parallel robots

Conference Paper (international conference)

Böhm Josef, Belda Květoslav, Valášek M.

serial: Proceedings of the 13th International Conference on Process Control '01 , Eds: Mikleš J., Dvoran J., Fikar M.

publisher: Slovak University of Technology, (Bratislava 2001)

action: International Conference on Process Control '01 /13./, (Štrbské Pleso, SK, 11.06.2001-14.06.2001)

research: AV0Z1075907

project(s): GA101/99/0729, GA ČR

keywords: redundant parallel robot, backlash problem, matrix pseudoinversion

abstract (eng):

The paper deals with solution of the antibacklash task in the new concept of the robots based on the parallel construction improved by redundant action. This type of the robot is described by Lagrange's equations of mixed tipe. On their base the used controls (Inverse Dynamics Control, Sliding Mode Control and Generalized Predictive Control) are designed. This paper firstly discusses solution of systems with the deficient rank matrix inverse and then general utilization of the Quadratic programming.

Cosati: 09N

RIV: BC