Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System Motion Control Employing Mathematical Model of the Robot Arm Dynamics

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F17%3A00475196" target="_blank" >RIV/67985556:_____/17:00475196 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1109/PC.2017.7976237" target="_blank" >http://dx.doi.org/10.1109/PC.2017.7976237</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/PC.2017.7976237" target="_blank" >10.1109/PC.2017.7976237</a>

Result language

angličtina

Original language name

Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System Motion Control Employing Mathematical Model of the Robot Arm Dynamics

Original language description

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.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

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

Proceedings of the 21th International Conference on Process Control 2017

ISBN

978-1-5386-4010-4

ISSN

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e-ISSN

—

Number of pages

6

Pages from-to

339-344

Publisher name

Slovak University of Technology in Bratislava

Place of publication

Bratislava

Event location

Štrbské Pleso

Event date

Jun 6, 2017

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

000412119800059