PREDICTIVE CONTROL FOR MODERN INDUSTRIAL ROBOTS - Algorithms and their applications

Květoslav Belda, Josef Böhm, Pavel Píša

Abstract

Industrial robots comprise substantial parts of machine tools and manipulators in production lines. Their present development stagnates in their control. Traditional approaches, e.g. NC (numerical control) systems combined with PID/PSD structures, provide control of the tool drives as separate units only, but not solve the control from view of the whole machine system. On the other hand, in control theory, there are a lot of approaches, in which the information on tool dynamics and kinematic relations can be involved. The main contribution of this paper is to introduce various utilization and modifications (not only control tasks) of one such approach – model-base predictive control. The control is being developed for modern industrial robots based on parallel configurations. The modifications of predictive algorithm are substantiated by real laboratory experiments. The paper concerns with basic control design and its possibilities to remove positional steady-state error. Quadraticaly-optimal trajectory planning is outlined in it.

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Paper Citation


in Harvard Style

Belda K., Böhm J. and Píša P. (2005). PREDICTIVE CONTROL FOR MODERN INDUSTRIAL ROBOTS - Algorithms and their applications . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 3-10. DOI: 10.5220/0001155800030010


in Bibtex Style

@conference{icinco05,
author={Květoslav Belda and Josef Böhm and Pavel Píša},
title={PREDICTIVE CONTROL FOR MODERN INDUSTRIAL ROBOTS - Algorithms and their applications},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={3-10},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001155800030010},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PREDICTIVE CONTROL FOR MODERN INDUSTRIAL ROBOTS - Algorithms and their applications
SN - 972-8865-30-9
AU - Belda K.
AU - Böhm J.
AU - Píša P.
PY - 2005
SP - 3
EP - 10
DO - 10.5220/0001155800030010