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Publication details

Study of control of planar redundant parallel robot

Conference Paper (international conference)

Belda Květoslav, Böhm Josef, Valášek M.

serial: Proceedings of the IASTED International Conference Modelling, Identification, and Control, p. 694-699 , Eds: Hamza M. H.

publisher: Acta Press, (Calgary 2001)

action: IASTED 2001, (Innsbruck, AT, 19.02.2001-22.02.2001)

research: AV0Z1075907

project(s): GA101/99/0729, GA ČR

keywords: planar redundant parallel robot, control (GPC, IDC, SMC), nonlinear system

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abstract (eng):

Industrial robots and manipulators are being constantly developed in order to improve their accuracy and speed. Parallel robots seem to be the promising way of the solution to this problem. This paper deals with the design and simulation of control of one such robot. Generalized Predictive Control (GPC), Inverse Dynamics Control (IDC) and Sliding Mode Control (SMC) are discussed here.

Cosati: 09N, 09I


2012-12-21 16:10