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Publication details

State-space Generalized Predicitve Control for redundant parallel robots

Journal Article

Belda Květoslav, Böhm Josef, Valášek M.

serial: Mechanics Based Design of Structures and Machines: an international journal vol.31, 3 (2003), p. 413-432

research: CEZ:AV0Z1075907

project(s): GA101/03/0620, GA ČR, 0204512, CTU

keywords: parallel robot construction, generalized predictive control, drive redundancy

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abstract (eng):

The paper deals with the design and properties of Generalized Predictive Control for path control of redundant parallel robots. Redundant parallel classification means redundant number of actuators. Control of such structures suffers from several new control problems like potential inconsistency of steady state positions or non-uniqueness of control actions. Classical direct derivation and modification based on square root two-step design of control actions for solving the control problem are explained.

Cosati: 09I


2012-12-21 16:10