Predictive control for offset-free motion of industrial articulated robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004496" target="_blank" >RIV/46747885:24220/17:00004496 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046911" target="_blank" >http://dx.doi.org/10.1109/MMAR.2017.8046911</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046911" target="_blank" >10.1109/MMAR.2017.8046911</a>

Result language
angličtina
Original language name
Predictive control for offset-free motion of industrial articulated robots
Original language description
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.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
ISBN
978-153862402-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
688-693
Publisher name
Institute of Electrical and Electronics Engineers Inc.
Place of publication
Miedzyzdroje; Poland
Event location
Miedzyzdroje; Poland
Event date
Jan 1, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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