Počet záznamů: 1
Singular cases of the planar parallel robot
- 1.0411080 - UTIA-B 20030067 CZ eng K - Konferenční příspěvek (tuzemská konf.)
Belda, Květoslav - Stejskal, V.
Singular cases of the planar parallel robot.
Prague: Czech Technical University, 2003. ISBN 80-86246-18-3. In: Engineering Mechanics 2003. - (Náprstek, J.; Fischer, C.), s. 1-8
[Engineering Mechanics 2003. Svratka (CZ), 12.05.2003-15.05.2003]
Grant CEP: GA ČR GA101/03/0620
Výzkumný záměr: CEZ:AV0Z1075907
Klíčová slova: planar parallel robot * singular analysis * kinematic transformations
Kód oboru RIV: BC - Teorie a systémy řízení
http://library.utia.cas.cz/separaty/historie/belda-0411080.pdf
Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.
Trvalý link: http://hdl.handle.net/11104/0131167
Počet záznamů: 1