State-Space Generalized Predictive Control for Redundant Parallel Robots

Mechanics Based Design of Structures and Machines

Volumn 31, Issue 3, 2003, Pages 413-432

  Belda, Květoslav ^a   Böhm, Josef ^a   Valášek, Michael ^b  

^a INSTITUTE OF INFORMATION THEORY AND AUTOMATION   (Czech Republic)

^b CZECH TECHNICAL UNIVERSITY IN PRAGUE   (Czech Republic)

Author keywords

Drive redundancy; Generalized predictive control; Parallel robot construction

Indexed keywords

ALGORITHMS; MACHINE DESIGN; PREDICTIVE CONTROL SYSTEMS; PROBLEM SOLVING; STATE SPACE METHODS;

REDUNDANT PARALLEL ROBOTS;

ROBOTICS;

EID: 0141757459     PISSN: 15397734     EISSN: None     Source Type: Journal    
DOI: 10.1081/SME-120022857     Document Type: Article

References (15)

1. Böhm, J., Belda, K., Valášek, M. (2001a). In: The Antibacklash Task in the Path Kontrol of Redundant Parallel Robots. Proceedings of the 13th International Conference on Process Control 01', Štrbské pleso, Slovakia, Jule 5-10.
2. Böhm, J., Belda, K., Valášek, M. (2001 b). In: Study of Control of Planar Redundant Parallel Robot. Proceedings of the IASTED conference MIC 2001, Innsbruck, Austria, Feb. 19-2, pp. 694-99.
3. Golub, H. G., Loan, Van Ch. F. (1989). Orthogonalization and least squares. In: Matrix Computations. Baltimore: The Johns Hopkins University Press, pp. 193-215.
4. Kock, S., Schumacher, W. (2000). In: Control of a Fast Parallel Robot with a Redundant Chain and Gearboxes. IEEE Conf. Robotics and Automation, p. 6.
5. Lawson, Ch., Hanson, R. J. (1974). Computing the solution for problems LS with possibly deficient pseudorank. In: Solving Least Squares Problems. New York: Prentice Hall, pp. 77-81.
6. Marquet, F., Krut, S., Company, O., Pierrot, F. (1999). In ARCHI: a New Redundant Parallel Mechanism-Modeling, Control and First Results, LIRMM-UMR 5506.
7. Neugebauer, R. eds. (2002). In: Development Methods and Application Experience of Parallel Kinematics. Chemnitz, Germany, Apr. 20-24, Verlag Wissenschaftliche Scripten.
8. Norrlöf, M. (2002). In: Iterative Learning Control: Analysis, Design, and Experiments. Dissertation No. 653, Sweden, ISBN 91-7219-837-0.
9. Ordys, A., Clarce, D. (1993). In: A state-space description for GPC controllers. Int. J. Systems Sci. 24(9):1727-744.
10. Sciavicco, L., Siciliano, B. (1996). Motion control. In: Modeling and Control of Robot Manipulators. New York: The McGraw-Hill Companies, Inc., pp. 199-254.
11. Soeterboek, R. (1990). In: Predictive Control - A Unified Approach. Delft University of Technology. The Netherlands: Rotterdam.
12. Stejskal, V., Valášek, M. (1996). MBS dynamic analysis. In: Kinematics and Dynamics of Machinery. New York: Marcel Dekker, Inc., pp. 257-387
13. Tsai, L.-W. (1999). Position analysis of parallel manipulators. In: Robot Analysis - The Mechanics of Serial and Parallel Manipulators. New York: John Wiley & Sons, Inc., pp. 116-169.
14. Valášek, M., Bauma, V., Miláček, S., Spurný, J., Šika, Z., Vampola, T. (2002). In: Synthesis of Redundant Parallel Robots: Výpočtová mechanika: Nečtiny, pp. 413-420.
15. Valášek M. Steinbauer P.(1999) Nonlinear control of multibody systems Euromech 404:437-444