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Publication details

Advanced control for redundant parallel robots

Conference Paper (international conference)

Böhm Josef, Belda Květoslav, Valášek M.

serial: Proceedings of the 14th International Conference on Process Control 2003, p. 1-7 , Eds: Mikleš J., Dvoran J., Fikar M.

publisher: Slovak University of Technology, (Bratislava 2003)

action: International Conference on Process Control 2003 /14./, (Štrbské pleso, SK, 08.06.2003-11.06.2003)

research: CEZ:AV0Z1075907

project(s): GA101/03/0620, GA ČR

keywords: redundancy, PID/PSD control, predicitve control

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abstract (eng):

One of the trends in robotics is a study of parallel structures, over-actuated, drive-redundant systems, and their control. The simplest, decentralized control approach considered means taking the robots as a set of single input-output systems (setSISO). As an alternative is i.e. model-based centralized Generalized Predictive Control (GPC). It pursues global control design corresponding with actual requirement to robot movement. The paper presents the square-root GPC in both absolute and incremental form.

Cosati: 09I


2012-12-21 16:10