| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 720443 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. One solution is “Independent Joint Control” which simplifies a robot controller from a design point-of-view. Each actuated joint is taken to be a single-input single-output (SISO) system. Each joint is controlled based on the desired joint position, and measurements of the actual joint position. The paper is focus on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Sergiu-Dan Stan, Radu Balan, Vistrian Matieş,