Trajectory-tracking control of a planar parallel robot using generalized predictive control with constraints
This paper presents the generalized predictive control with constraints, implemented to a planar parallel robot in order to calculate and track the desired trajectory of the end-effector of this robot. The manipulator is driven by three brushless direct current motors, and each one has an encoder to...
- Autores:
-
Rodelo, M
Villa Ramírez, José Luis
Yime, E
- Tipo de recurso:
- Fecha de publicación:
- 2020
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/10033
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/10033
https://iopscience.iop.org/article/10.1088/1742-6596/1702/1/012003/meta
- Palabra clave:
- Control theory
End effectors
Environmental regulations
MATLAB
Predictive control systems
Trajectories
LEMB
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/