About: Concepts of Model-Based Control and Trajectory Planning for Parallel Robots

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The paper deals with the concepts of model-based control and trajectory planning intended for industrial parallel robots. These robots are characterized by very good dynamical properties arisen from small number of moving masses in comparison with conventional configurations. In the paper, multi-level (hierarchical) control will be investigated. It can be specified as a model-based control providing positional and speed loops with addition of fast low-level current-loop control. As a suitable representative of model-based control, predictive control is considered. Described concept can offer more possibilities to manage the control process than usual cascade control. Finally, the paper outlines two different concepts of trajectory planning. The first concept considers only pure geometrical features (curve-based planning) without relation to the real robots. The second concept conversely takes into account the dynamical features of the real robot with initial and final points. The paper deals with the concepts of model-based control and trajectory planning intended for industrial parallel robots. These robots are characterized by very good dynamical properties arisen from small number of moving masses in comparison with conventional configurations. In the paper, multi-level (hierarchical) control will be investigated. It can be specified as a model-based control providing positional and speed loops with addition of fast low-level current-loop control. As a suitable representative of model-based control, predictive control is considered. Described concept can offer more possibilities to manage the control process than usual cascade control. Finally, the paper outlines two different concepts of trajectory planning. The first concept considers only pure geometrical features (curve-based planning) without relation to the real robots. The second concept conversely takes into account the dynamical features of the real robot with initial and final points. (en)
Title	Concepts of Model-Based Control and Trajectory Planning for Parallel Robots Concepts of Model-Based Control and Trajectory Planning for Parallel Robots (en)
skos:prefLabel	Concepts of Model-Based Control and Trajectory Planning for Parallel Robots Concepts of Model-Based Control and Trajectory Planning for Parallel Robots (en)
skos:notation	RIV/67985556:_____/07:00085224!RIV10-AV0-67985556
http://linked.open...avai/riv/aktivita	P Z
http://linked.open...avai/riv/aktivity	P(GA102/05/0271), P(GA102/05/2075), P(GP102/06/P275), Z(AV0Z10750506)
http://linked.open...vai/riv/dodaniDat	2010
http://linked.open...aciTvurceVysledku	Belda, Květoslav Böhm, Josef
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Ústav teorie informace a automatizace AV ČR, v. v. i.
http://linked.open...dnocenehoVysledku	414721
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/07:00085224
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Multi-level control; predictive control; trajectory planning (en)
http://linked.open.../riv/klicoveSlovo	predictive control trajectory planning Multi-level control
http://linked.open...ontrolniKodProRIV	[2B28C9D2948B]
http://linked.open...v/mistoKonaniAkce	Würzburg
http://linked.open...i/riv/mistoVydani	Zurich
http://linked.open...i/riv/nazevZdroje	Proceedings of 13th IASTED International Conference on Robotics and Applications
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Model-Based Control of Mechatronic Systems for Robotics Predictive Control: Algorithms and Implementation Theoretical background for integrated process control and optimization
http://linked.open...UplatneniVysledku	2007
http://linked.open...iv/tvurceVysledku	Belda, Květoslav Píša, P. Böhm, Josef
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2007-08-29 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Pokročilé matematické metody získávání, zpracování a využití informací a znalostí ve složitých a nedeterministických systémech
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Acta Press
https://schema.org/isbn	978-0-88986-685-0

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