0477598 20240103214445.220170906235959.9 85035350505 000425229300124 10.1109/MMAR.2017.8046911 6 s. C cav_un_epca*0477597978-1-5386-2403-6688-693SzczecinWest Pomeranian University of Technology2017 Predictive control Offset-free motion Industrial articulated robots cav_un_auth*0101064 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems 50 Belda Květoslav UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0303190 Záda V. CZ http://library.utia.cas.cz/separaty/2017/AS/belda-0477598.pdf This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots. cav_un_auth*0349323 22nd IEEE International Conference on Methods and Models in Automation and Robotics 20170828 20170831 Miedzyzdroje PL BC 20000 20200 20205 2018 2 PR RVO:67985556 http://hdl.handle.net/11104/0274234 cav_un_auth*0349324 Technická univerzita v Liberci, Fakulta mechatroniky, Ústav mechatroniky a technické informatiky, oddělení elektromechanických systémů a robotiky TUL CZ S n.a. Proceedings Paper Automation Control Systems|Robotics 2017 85035350505 SCOPUS PUBMED 000425229300124 WOS cav_un_epca*0477597 Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics 978-1-5386-2403-6 688 693 Szczecin West Pomeranian University of Technology 2017