• DocumentCode
    3563682
  • Title

    Constrained model predictive control of the redundant cable robots

  • Author

    Ghasemi, Ali ; Eghtesad, Mohammad ; Farid, Mehrdad

  • Author_Institution
    Shiraz Univ., Shiraz
  • fYear
    2008
  • Firstpage
    1
  • Lastpage
    6
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Automation Congress, 2008. WAC 2008. World
  • Print_ISBN
    978-1-889335-38-4
  • Electronic_ISBN
    978-1-889335-37-7
  • Type

    conf

  • Filename
    4699048
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3563682