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title

Simulation and Control of SCARA Robot Using PD and Unconstraint Model Predictive Controllers

Credit to Download: 1 | Page Numbers 5 | Abstract Views: 1405
Year: 2011
Present: شفاهي
COI code: ISCEE14_166
Paper Language: English

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Authors Simulation and Control of SCARA Robot Using PD and Unconstraint Model Predictive Controllers

  A Haseltalab - Faculty of electrical and computer engineering,University of Tabriz, Tabriz, Iran

Abstract:

Feasible response speed, accuracy and robustness are the most important characteristics of robot manipulators, so different methods are implemented to obtain better response and actions. In this paper a SCARA robot manipulator is modeled and controlled by PD and model predictive controllers. Reference trajectory tracking is compared and more optimized performance of model predictive controller is proved and MIMO unconstraint dynamic matrix algorithm is applied for prediction. So in this study we are going to assay model predictive controller as a better controller for SCARA robot manipulators

Keywords:

Model Predictive Control (MPC), SCARA robot, PD controller

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https://www.civilica.com/Paper-ISCEE14-ISCEE14_166.html
COI code: ISCEE14_166

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Haseltalab, A, 2011, Simulation and Control of SCARA Robot Using PD and Unconstraint Model Predictive Controllers, 14th Iranian Student Conference on Electrical Engineering, كرمانشاه, دانشگاه كرمانشاه, سازمان علمي دانشجويي مهندسي برق كشور, https://www.civilica.com/Paper-ISCEE14-ISCEE14_166.htmlInside the text, wherever referred to or an achievement of this article is mentioned, after mentioning the article, inside the parental, the following specifications are written.
First Time: (Haseltalab, A, 2011)
Second and more: (Haseltalab, 2011)
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The University/Research Center Information:
Type: state university
Paper No.: 17232
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