Predictive Control Applied to Planar Parallel Robots

Authors:	Belda Květoslav, Institute of Information Theory and Automation, Czech Republic Böhm Josef, Institute of Information Theory and Automation, Czech Republic Valášek Michael, Czech Technical University in Prague, Czech Republic
Topic:	2.1 Control Design
Session:	Predictive Control: Implementation and Applications
Keywords:	Predictive control; Redundant manipulators; Robotics; State-space realization

Abstract

The design of suitable control is essential part of application of parallel robots. Together with appropriate control, the parallel robots are promising way to significantly improve accuracy and speed of machine tools in industrial production. This paper deals with the design and results of one possible control approach represented by model-based predictive control in absolute formulation. It explains exact linearization of used, initially nonlinear models, which are sequentially transformed to discrete state-space form. Control algorithm is derived in square-root form. The results are substantiated by real laboratory experiments showed in several representative figures.