Přejít k hlavnímu obsahu
top

Bibliografie

Conference Paper (international conference)

Decentralized and centralized control of redundant parallel robot constructions

Böhm Josef, Belda Květoslav, Valášek M.

: Proceedings of the 10th Mediterranean Conference on Control and Automation - MED 2002

: Instituto Superior Técnico, (Lisboa 2002)

: Mediterranean Conference on Control and Automation - MED 2002 /10./, (Lisboa, PT, 09.07.2002-12.07.2002)

: CEZ:AV0Z1075907

: GA101/99/0729, GA ČR

: DAE-ODE robot model, PID control, generalized predictive control (GPC)

: http://library.utia.cas.cz/separaty/historie/bohm-0410823.pdf

(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]).

: 09I

: BC