0410813 20240103182241.020060210235959.9 1 Praha Czech Technical University 2002 6 s. 9-14SchiehlenW.ValášekM. predictive control redundancy quadratic criterion 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*0101070 Böhm Josef UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021075 Valášek M. CZ http://library.utia.cas.cz/separaty/historie/belda-0410813.pdf 09I 0204512-1002045 IG ČVUT CZ CEZ:AV0Z1075907 The paper deals with the design and properties of Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and root minimization of the quadratic criterion and direct and two-step design of actuators respectively. As an example, the planar redundant parallel robot is used. Moreover, the paper presents several possibilities to use Predictive control for compliance of additional requirements (smooth trends of actuators or fulfillment antibacklash condition). cav_un_auth*0212906 Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute Praha CZ 23.06.2002-03.07.2002 BC AS http://hdl.handle.net/11104/0130900 UTIA-B 20020027 2002 2002 Praha Czech Technical University Virtual Nonlinear Multibody Systems. NATO Advanced Study Institute 9 14 Schiehlen W. 340 Valášek M. 340