| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0475196 |
| utime |
20240103214140.8 |
| mtime |
20170612235959.9 |
| SCOPUS |
85027522389 |
| WOS |
000412119800059 |
| DOI |
10.1109/PC.2017.7976237 |
| title
(primary) (eng) |
Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System Motion Control Employing Mathematical Model of the Robot Arm Dynamics |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0475195 |
| ISBN |
978-1-5386-4010-4 |
| title
|
Proceedings of the 21th International Conference on Process Control 2017 |
| page_num |
339-344 |
| publisher |
| place |
Bratislava |
| name |
Slovak University of Technology in Bratislava |
| year |
2017 |
|
| editor |
| name1 |
Fikar |
| name2 |
Miroslav |
|
| editor |
| name1 |
Kvasnica |
| name2 |
Michal |
|
|
| keyword |
kinematics and dynamics of articulated robots |
| keyword |
mathematical modeling |
| keyword |
mobile robotc systems |
| keyword |
model-based control design |
| keyword |
motion control |
| keyword |
predictive control |
| author
(primary) |
| ARLID |
cav_un_auth*0101064 |
| full_dept (cz) |
Adaptivní systémy |
| full_dept (eng) |
Department of Adaptive Systems |
| department (cz) |
AS |
| department (eng) |
AS |
| full_dept |
Department of Adaptive Systems |
| share |
75 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0347017 |
| share |
25 |
| name1 |
Rovný |
| name2 |
O. |
| country |
SK |
|
| source |
|
| cas_special |
| abstract
(eng) |
The paper deals with a design of model predictive control (MPC) as an example of the advanced local motion control of articulated robot arms in the scope of manipulation operations within the intradepartmental transportation among workplaces. Initially, the use of articulated robotic arms as a part of mobile robotic systems is discussed. Then, the convenient composition of mathematical models of kinematics and dynamics of the aforementioned robot arms is introduced. Thereafter, MPC design is explained. The proposed theoretical methods of the mathematical modeling and control design are demonstrated by the simulation of the 5 degrees of freedom robot arm composed of drive, joint and arm modules of the Schunk Co. |
| action |
| ARLID |
cav_un_auth*0346994 |
| name |
21th International Conference on Process Control 2017 |
| dates |
20170606 |
| mrcbC20-s |
20170609 |
| place |
Štrbské Pleso |
| country |
SK |
|
| RIV |
BC |
| FORD0 |
10000 |
| FORD1 |
10200 |
| FORD2 |
10201 |
| reportyear |
2018 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0272086 |
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems |
| arlyear |
2017 |
| mrcbU14 |
85027522389 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000412119800059 WOS |
| mrcbU63 |
cav_un_epca*0475195 Proceedings of the 21th International Conference on Process Control 2017 Slovak University of Technology in Bratislava 2017 Bratislava 339 344 978-1-5386-4010-4 |
| mrcbU67 |
340 Fikar Miroslav |
| mrcbU67 |
340 Kvasnica Michal |
|