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Publication details

Generalized Predictive Control for real-time use in area of parallel robots

Conference Paper (international conference)

Belda Květoslav


serial: Proceedings of the 3rd International PhD Workshop: Advances in Supervision and Control Systems, Young Generation Viewpoint, p. 1-7 , Eds: Rakar A.

publisher: Jožef Stefan Institute, (Strunjan 2002)

action: International PhD Workshop /3./, (Strunjan, SI, 01.10.2002-04.10.2002)

research: CEZ:AV0Z1075907

project(s): GA102/02/0204, GA ČR, CTU0204512, IGS

keywords: predictive control, redundancy, quadratic criterion

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abstract (eng):

The paper deals with Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and square root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use predictive algorithm for fulfillment of some additional requirements like actuator smoothing or antibacklash control and it shows practical results.

Cosati: 09N

RIV: BC

2012-12-21 16:10