Abstract: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 measure the velocity and rotation angles of the motors. Three constraints were considered to interact with the control law: control signal, terminal response and the over impulse constraints. The performance of the… Show more
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