0410583 20240111140635.720060210235959.9 80-227-1542-5 Bratislava Slovak University of Technology 2001 CD-ROM MiklešJ.DvoranJ.FikarM. redundant parallel robot backlash problem matrix pseudoinversion cav_un_auth*0101070 Böhm Josef UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101064 Belda Květoslav UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021075 Valášek M. CZ http://library.utia.cas.cz/separaty/historie/bohm-0410583.pdf 533 kB 09N GA101/99/0729 GA ČR cav_un_auth*0003995 AV0Z1075907 The paper deals with solution of the antibacklash task in the new concept of the robots based on the parallel construction improved by redundant action. This type of the robot is described by Lagrange's equations of mixed tipe. On their base the used controls (Inverse Dynamics Control, Sliding Mode Control and Generalized Predictive Control) are designed. This paper firstly discusses solution of systems with the deficient rank matrix inverse and then general utilization of the Quadratic programming. cav_un_auth*0212772 International Conference on Process Control '01 /13./ Štrbské Pleso SK 11.06.2001-14.06.2001 BC AS http://hdl.handle.net/11104/0130672 UTIA-B 20010052 2001 2001 Bratislava Slovak University of Technology 80-227-1542-5 533 kB Proceedings of the 13th International Conference on Process Control '01 Mikleš J. 340 Dvoran J. 340 Fikar M. 340