0410823 20240111140635.920060210235959.9 972-9027-03-X Lisboa Instituto Superior Técnico 2002 CD-ROM DAE-ODE robot model PID control generalized predictive control (GPC) 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-0410823.pdf 500 kB 09I GA101/99/0729 GA ČR cav_un_auth*0003995 CEZ:AV0Z1075907 The fundamental task of the parallel robot construction, espetially redundantly actuated, is to provide effective cooperation among all drives. This paper summarises a set of the available control approaches adjusted to redundant case: decentralized control with reduction of the unproductive part of I/S channels, the simple centralized control and one example of the high level control - Generalized Predictive Control. (Supported by IGS of CTU [CTU 0204512-1002045, 2002]). cav_un_auth*0212912 Mediterranean Conference on Control and Automation - MED 2002 /10./ Lisboa PT 09.07.2002-12.07.2002 BC AS http://hdl.handle.net/11104/0130910 UTIA-B 20020037 2002 2002 Lisboa Instituto Superior Técnico 972-9027-03-X 500 kB Proceedings of the 10th Mediterranean Conference on Control and Automation - MED 2002