Learn More
  • S. Stan
  • 2006 IEEE International Conference on Automation…
  • 2006
In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general(More)
Model based predictive control is a class of computer algorithms that explicitly use a process model to predict future plant outputs and compute an appropriate control action through on-line optimization of a cost objective over a future horizon, subject to various constraints. The cost function is defined in terms of the tracking error (the difference(More)
-In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more(More)
The paper presents an approach for developing and testing the control system for a parallel structure using rapid control prototyping (RCP). The control algorithm is developed and simulated using Simulink, the implementation of the algorithms is made using the Matlab toolbox real time workshop and the DS1104 board from dSpace. The method is applied for a(More)
In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed(More)
Model Based Predictive Control is a class of computer algorithms that explicitly use a process model to predict future plant outputs and compute an appropriate control action through on-line optimization of a cost objective over a future horizon, subject to various constraints. The cost function is defined in terms of the tracking error (the difference(More)
The paper is aimed at presenting a study on the optimization of the five-bar and Bipod micro parallel robots, which comprises two-degree-of-freedom (DOF) micro parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic(More)
The paper presents a multi-objective optimum design procedure to a 3 degrees of freedom (DOF) parallel robot with regards to four optimality criteria: workspace boundary, transmission quality index, stiffness and numerical aspects. Additional objective functions can be used to extend the proposed design procedure to more general but specific design(More)