Homing, Calibration and Model-Based Predictive Control for Planar Parallel Robots
نویسندگان
چکیده
Parallel robots represent way to considerably improve accuracy and speed of industrial machine tools and their centres. This paper deals with the preparatory operations: homing and calibration, which precede the start-up of the robot work, i.e. real control process. Their procedures are discussed with respect to planar parallel robots and their control. In this paper, as a suitable control strategy, the model-based predictive control is considered. The predictive control offers operator to continuously influence the control process. The control issues relating to planar parallel robots are discussed here.
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