Počet záznamů: 1
Kinematics and dynamics of parallel structures for control design
- 1.0411260 - UTIA-B 20030247 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Belda, Květoslav
Kinematics and dynamics of parallel structures for control design.
Praha: ÚTIA AV ČR, 2003. In: Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control. - (Belda, K.), s. 12-17
[International PhD Workshop Information Technologies & Control /4./. Libverda (CZ), 16.09.2003-20.09.2003]
Grant CEP: GA ČR GA101/03/0620; GA ČR GA102/02/0204
Výzkumný záměr: CEZ:AV0Z1075907
Klíčová slova: parallel robots * kineamtic and dynamic model analysis * drive redundancy
Kód oboru RIV: BC - Teorie a systémy řízení
http://library.utia.cas.cz/separaty/historie/belda-0411260.pdf
The presentation deals with the kinematic and dynamic analysis of parallel structures of robotic systems. From the analysis, the model of the structure is obtained and used for simulation, control design, trajectory planning, determination of geometry of structure components (calibration), singular analysis and force construction design (choice of the drives). As an auspicious control approach is model-based approach that enable to effectively design control actions in comparison with classical approaches.
Trvalý link: http://hdl.handle.net/11104/0131345
Počet záznamů: 1