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Predictive Control for Offset-Free Motion of Industrial Articulated Robots

Conference Paper (international conference)

Belda Květoslav, Záda V.


serial: Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics, p. 688-693

action: 22nd IEEE International Conference on Methods and Models in Automation and Robotics, (Miedzyzdroje, PL, 20170828)

keywords: Predictive control, Offset-free motion, Industrial articulated robots

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abstract (eng):

This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.

RIV: BC

2012-12-21 16:10