Predictive control for offset-free motion of industrial articulated robots

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dc.contributor.authorZáda Václavcs
dc.date.accessioned2018-09-25T12:12:59Z
dc.date.available2018-09-25T12:12:59Z
dc.date.issued2017cs
dc.description.abstract—This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.en
dc.format.extent6cs
dc.identifier.doi10.1109/MMAR.2017.8046911
dc.identifier.isbn978-153862402-9cs
dc.identifier.urihttps://dspace.tul.cz/handle/15240/31040
dc.identifier.urihttps://ieeexplore.ieee.org/document/8046911
dc.language.isoengcs
dc.publisherInstitute of Electrical and Electronics Engineers Inc.cs
dc.publisher.cityMiedzyzdroje; Polandcs
dc.relation.ispartofseries1cs
dc.subjectArticulated robotscs
dc.subjectncremental formulationcs
dc.subjectModel predictive controlcs
dc.subjectSimulation examplecs
dc.titlePredictive control for offset-free motion of industrial articulated robotscs
local.citation.epage688-693cs
local.citation.spage688-693cs
local.identifier.publikace4496
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