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Publication details

Decentralized and centralized control of redundant parallel robot constructions

Conference Paper (international conference)

Böhm Josef, Belda Květoslav, Valášek M.

serial: Proceedings of the 10th Mediterranean Conference on Control and Automation - MED 2002

publisher: Instituto Superior Técnico, (Lisboa 2002)

action: Mediterranean Conference on Control and Automation - MED 2002 /10./, (Lisboa, PT, 09.07.2002-12.07.2002)

research: CEZ:AV0Z1075907

project(s): GA101/99/0729, GA ČR

keywords: DAE-ODE robot model, PID control, generalized predictive control (GPC)

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abstract (eng):

The fundamental task of the parallel robot construction, espetially redundantly actuated, is to provide effective cooperation among all drives. This paper summarises a set of the available control approaches adjusted to redundant case: decentralized control with reduction of the unproductive part of I/S channels, the simple centralized control and one example of the high level control - Generalized Predictive Control. (Supported by IGS of CTU [CTU 0204512-1002045, 2002]).

Cosati: 09I


2012-12-21 16:10