Počet záznamů: 1
The direct kinematics of redundant parallel robot for predictive control
- 1.0410809 - UTIA-B 20020023 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Belda, Květoslav - Böhm, Josef - Valášek, M.
The direct kinematics of redundant parallel robot for predictive control.
Pardubice: VŠCHT, 2002. ISBN 80-7149-452-1. In: Proceedings of the 5th International Scientific - Technical Conference Process Control 2002. - (Taufer, I.; Krejčí, S.), s. 1-10
[Process Control 2002 /5./. Kouty nad Desnou (CZ), 10.06.2002-12.06.2002]
Grant CEP: GA ČR GA101/99/0729
Grant ostatní: IG ČVUT(CZ) 300104412
Výzkumný záměr: CEZ:AV0Z1075907
Klíčová slova: direct kinematics * planar redundant parallel robot * global operational-space control
Kód oboru RIV: BC - Teorie a systémy řízení
http://library.utia.cas.cz/separaty/historie/belda-0410809.pdf
This paper deals with the design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and computation of high level control based on knowledge of such model, eg. Predictive Control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.
Trvalý link: http://hdl.handle.net/11104/0130896
Počet záznamů: 1