Real-time Simulation and Visualization of High-level Model-based Control of Redundant Parallel Robots
نویسنده
چکیده
The paper briefly introduces examples of high-level model-based control ( Sliding Mode Control – SMC and Generalized Predictive Control – GPC ) applied to the redundant parallel robots. The objective is a presentation of using MATLAB – SIMULINK environment for real-time simulation and visualization of control of these robots. Implementation is accomplished by combination of C MEX S-Functions and ordinary C MEX-Files within SIMULINK scheme under support of Real-Time Windows Target (2.1) and Virtual Reality Toolbox (2.0).
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