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Publication details

Design and simulation of predictive control of drives of planar redundant parallel robot

Conference Paper (international conference)

Böhm Josef, Belda Květoslav, Valášek M.

serial: Proceedings of the 4th International Scientific-Technical Conference. Process Control 2000. ŘÍP 2000, p. 20-27

publisher: University of Pardubice, (Pardubice 2000)

action: Process Control 2000. ŘÍP 2000 /4./, (Kouty nad Desnou, CZ, 11.06.2000-14.06.2000)

research: AV0Z1075907

project(s): GA101/99/0729, GA ČR

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abstract (eng):

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.

Cosati: 09I


2012-12-21 16:10