Title :
Constrained model predictive control of the redundant cable robots
Author :
Ghasemi, Ali ; Eghtesad, Mohammad ; Farid, Mehrdad
Author_Institution :
Shiraz Univ., Shiraz
Abstract :
This paper introduces a controller for cable robots with redundant cables under input constraints. The controller is based on input-output feedback linearization and linear model predictive control (LMPC). The effectiveness of the proposed method is illustrated by numerical simulation.
Keywords :
feedback; linearisation techniques; predictive control; redundant manipulators; constrained model predictive control; input constraints; input-output feedback linearization; linear model predictive control; redundant cable robots; Acceleration; Cables; Kinematics; Linear feedback control systems; Manipulator dynamics; Numerical simulation; Predictive control; Predictive models; Robot control; Vectors; Cable robot; Input-output linearization; Linear model predictive control; Redundancy;
Conference_Titel :
Automation Congress, 2008. WAC 2008. World
Print_ISBN :
978-1-889335-38-4
Electronic_ISBN :
978-1-889335-37-7
