• DocumentCode
    154392
  • Title

    Predictive control based on robotic arm model

  • Author

    Zwonarz, Wojciech

  • Author_Institution
    AGH Univ. of Sci. & Technol., Cracov, Poland
  • fYear
    2014
  • fDate
    2-5 Sept. 2014
  • Firstpage
    544
  • Lastpage
    548
  • Abstract
    A universal controller for different classes of robotic manipulators is considered. The designed controller is a predictive one with the Powell method as the quality indicator minimum optimizer. The attention is focused on two simulated robotic systems treated as benchmarks. They track rectilinear trajectories.
  • Keywords
    control system synthesis; manipulators; predictive control; trajectory control; Powell method; controller design; predictive control; quality indicator minimum optimizer; rectilinear trajectory tracking; robotic arm model; robotic manipulators; universal controller; Interpolation; Manipulators; Q-factor; Regulators; Splines (mathematics); Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
  • Conference_Location
    Miedzyzdroje
  • Print_ISBN
    978-1-4799-5082-9
  • Type

    conf

  • DOI
    10.1109/MMAR.2014.6957412
  • Filename
    6957412
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=154392