Institute of Information Theory and Automation

You are here

BSc./Mgr. Topic: Numerical methods in the design of control of industrial robots (Belda)

Type of Work: 
UTIA CAS, dept. of AS, 26605 2310
Model predictive control, numerical integration methods, industrial robots, nonlinear dynamic models

The topic of the bachelor/diploma thesis is focused on the selection and implementation of a suitable numerical method for the predictive control algorithm, which uses a default physical nonlinear model describing the robot's dynamics. Numerical methods should be used in the construction of prediction equations that express the dependence of future planned outputs on unknown calculated inputs (control actions) and also for control using internal simulation in its design. Algorithms will be created in the MATLAB language with a connection to the C language. For the development and testing of the algorithms, the requirements of real industrial robots and control algorithms based on model predictive control will be considered.

The topic is suitable for FNSPE CTU, by agreement for FEE, FME CTU and other universities.

[1] Rektorys, K. et al.: Survey of Applied Mathematics, Available Edition.
[2] Belda, K.: Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots. Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engin., 613. Springer, 2020, pp. 230-251.
[3] Belda, K., Záda, V.: Predictive Control for Offset-Free Motion of Industrial Articulated Robots. Proc. 22nd IEEE Int. Conf. Methods and Models in Automation and Robotics. West Pomeranian University of Technology, Szczecin, Poland, 2017, pp. 688-693.
[4] Other literature according to the specific focus of the thesis.

2022-09-15 10:17