| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0477598 |
| utime |
20240103214445.2 |
| mtime |
20170906235959.9 |
| SCOPUS |
85035350505 |
| WOS |
000425229300124 |
| DOI |
10.1109/MMAR.2017.8046911 |
| title
(primary) (eng) |
Predictive Control for Offset-Free Motion of Industrial Articulated Robots |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0477597 |
| ISBN |
978-1-5386-2403-6 |
| title
|
Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics |
| page_num |
688-693 |
| publisher |
| place |
Szczecin |
| name |
West Pomeranian University of Technology |
| year |
2017 |
|
|
| keyword |
Predictive control |
| keyword |
Offset-free motion |
| keyword |
Industrial articulated robots |
| 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 |
50 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0303190 |
| name1 |
Záda |
| name2 |
V. |
| country |
CZ |
|
| source |
|
| cas_special |
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0349323 |
| name |
22nd IEEE International Conference on Methods and Models in Automation and Robotics |
| dates |
20170828 |
| mrcbC20-s |
20170831 |
| place |
Miedzyzdroje |
| country |
PL |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2018 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0274234 |
| cooperation |
| ARLID |
cav_un_auth*0349324 |
| name |
Technická univerzita v Liberci, Fakulta mechatroniky, Ústav mechatroniky a technické informatiky, oddělení elektromechanických systémů a robotiky |
| institution |
TUL |
| country |
CZ |
|
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems|Robotics |
| arlyear |
2017 |
| mrcbU14 |
85035350505 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000425229300124 WOS |
| mrcbU63 |
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 |
|