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Authors: Květoslav Belda 1 ; Josef Böhm 1 and Pavel Píša 2

Affiliations: 1 Institute of Information Theory and Automation, Academy of Sciences of the Czech Republic, Czech Republic ; 2 Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

ISBN: 972-8865-30-9

Keyword(s): Predictive control, Redundant manipulators, Robotics, Steady-state error problem.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Real-Time Systems Control ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

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. (More)

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Paper citation in several formats:
Belda K.; Böhm J.; Píša P. and (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

@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},
}

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

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