0410983 20240103182253.520060210235959.9 961-6303-40-6 Strunjan Jožef Stefan Institute 2002 7 s. 1-7RakarA. 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. http://library.utia.cas.cz/separaty/historie/belda-0410983.pdf 09N GA102/02/0204 GA ČR cav_un_auth*0004106 CTU0204512 IGS CZ CEZ:AV0Z1075907 The paper deals with Generalized Predictive Control for path control of the redundant parallel robots. It summarizes classical and square 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 algorithm for fulfillment of some additional requirements like actuator smoothing or antibacklash control and it shows practical results. cav_un_auth*0212989 International PhD Workshop /3./ Strunjan SI 01.10.2002-04.10.2002 BC AS http://hdl.handle.net/11104/0131070 UTIA-B 20020197 2002 2002 Strunjan Jožef Stefan Institute 961-6303-40-6 Proceedings of the 3rd International PhD Workshop: Advances in Supervision and Control Systems, Young Generation Viewpoint 1 7 Rakar A. 340