Institute of Information Theory and Automation

You are here

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)

preview: Download

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

RIV: BC

2012-12-21 16:10