0427609 20240111140846.620140519235959.9 12 s. P cav_un_epca*0427608978-3-95735-004-6571-582ChemnitzFraunhofer IWU2014NeugebauerReimund Modeling Control Manipulator cav_un_auth*0101064 Belda Květoslav Adaptivní systémy Department of Adaptive Systems AS AS UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0303190 Záda V. CZ CD ROM http://library.utia.cas.cz/separaty/2014/AS/belda-0427609.pdf GAP102/11/0437 GA ČR CZ cav_un_auth*0273082 The paper deals with advanced modeling and model-based control design concepts for an optimal robot motion and monitoring for safe and efficient operation. The explanation aims at concepts for the composition of suitable mathematical models of robot kinematics and dynamics. In the paper, a control design concept via model-based predictive control is introduced. The design and monitoring of recommended reference signals for safe and efficient process control are discussed. The concepts are demonstrated on six-axis multipurpose robot ABB IRB 140. This robot belongs to the considered class of industrial articulated robots-manipulators. cav_un_auth*0302684 3rd International Chemnitz Manufacturing Colloquium. ICMC 2014 Chemnitz 07.04.2014-09.04.2014 DE 2015 JD 2 PO RVO:67985556 http://hdl.handle.net/11104/0233602 cav_un_auth*0295064 TUL Technická univerzita v Liberci CZ Liberec S 2014 CD ROM cav_un_epca*0427608 3rd International Chemnitz Manufacturing Colloquium. ICMC 2014. Proceedings Part 1 978-3-95735-004-6 571 582 Chemnitz Fraunhofer IWU 2014 Reports from the IWU 80 Neugebauer Reimund 340