Bibliografie
Conference Paper (international conference)
Decentralized and centralized control of redundant parallel robot constructions
, ,
: 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