0410720 20240103182234.320060210235959.9 Budapest CAI 2001 5 s. 11-15 antibacklash task redundant paraller robot pseudoinverse cav_un_auth*0101064 Belda Květoslav UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/historie/belda-0410720.pdf 09I GA101/99/0729 GA ČR cav_un_auth*0003995 300104412 IGS ČVUT CZ cav_un_auth*0212775 GA102/99/1564 GA ČR cav_un_auth*0004444 AV0Z1075907 The draft paper deals with solution of the antibacklash task of the redundant parallel robots. This type of the robots is generally described by Lagrange˙s equations of mixed type, on which base the used controls (Inverse Dynamics Control (IDC), Sliding Mode Control (SMC) and Predictive Control (GPC) are designed. This paper discusses the two following ways. The first is based on solution of systems with the deficient rank matrix inversion and the second is general use of the Quadratic programming (QP). cav_un_auth*0212854 International PhD Student Workshop on Systems and Control /2./ Balatonfüred HU 17.09.2001-20.09.2001 BC AS http://hdl.handle.net/11104/0130808 UTIA-B 20010189 2001 2001 Budapest CAI The 2nd International PhD Student Workshop on Systems and Control - "Young Generation's Viewpoint". Proceedings 11 15