Design, Modeling and Control of Industrial Robots
The ongoing research focuses on the design, modeling and control of industrial robots. The design is aimed at developing new kinematic mechanisms and systems. The modeling involves creating suitable models for simulation and control design. In control tasks, optimal multi-step control algorithms are developed using the models that have been created.
The research is closely related to issues in industrial robotics, particularly in the areas of designing new kinematic mechanisms [1], mathematical modeling, and energy-optimal control [2], with optimization of path geometry and control parameters for the motion trajectories of robot working points [3].
![Wireframe – conceptual design; physical robot – reality [1].](http://files.utia.cas.cz/2szylsym6y01/w960/AS_project3_img1.png)
The developed original solutions [Fig. 1] utilize the principles from mechanics, electrical engineering, electronics, and control theory integrated into the overlapping fields of mechatronics and robotics.
![Block diagram with Explicit Predictive Controller for PMSM drives [2].](http://files.utia.cas.cz/fh7hhxumsz01/optimized/AS_project3_img2.png)
The research results are energy-optimal algorithms for motion control of complex robotic systems. To ensure smooth and uninterrupted movement, the control is computed at specific time intervals, taking into account the dynamics of the robots and their drives [Fig. 2]. Optimizing energy consumption along the robot paths is especially important [Fig. 3].
![Optimization of the geometry of robot work point paths [3].](http://files.utia.cas.cz/eqkzc2smg202/optimized/AS_project3_img3.png)
Related publications:
- BELDA, Květoslav. Robotic Device. In. No. 301781 CZ, Industrial Property Office of the Czech Republic. 2010.
- BELDA, Květoslav. Nonlinear Model Predictive Control Algorithms for Industrial Articulated Ro-bots. In: GUSIHKIN, Oleg; MADANI, Kurosh (eds.). Informatics in Control, Automation and Robotics. ICINCO 2018, p. 230-251, DOI: 10.1007/978-3-030-31993-9_11.
- BELDA, Květoslav. Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion Control. In: GUSIHKIN, Oleg; MADANI, Kurosh; ZAYTOON, Janan (eds.). International Conference on Informatics in Control, Automation and Robotics. 2019. p. 229-236.
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