The direct kinematics for path control of redundant parallel robots

0410586 - UTIA-B 20010055 RIV GR eng C - Conference Paper (international conference)
Böhm, Josef - Belda, Květoslav - Valášek, M.
The direct kinematics for path control of redundant parallel robots.
Rethymno: WSES Press, 2001. Electrical and Computer Engineering Series. ISBN 960-8052-39-4. In: Advances in Systems Science: Measurement, Circuits and Control. - (Mastorakis, N.; Pecorelli-Peres, L.), s. 253-258
[WSES International Conference on Circuits, Systems, Communications and Computers. CSCC 2001 /5./. Rethymno (GR), 08.07.2001-15.07.2001]
R&D Projects: GA ČR GA101/99/0729; GA MŠMT 300104412
Institutional research plan: AV0Z1075907
Keywords : direct kinematics * planar redundant parallel robot * nonlinear system
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/bohm-0410586.pdf

The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of the direct kinematics for real-time path control of planar redundant parallel robot. The main reason is that the direct kinematics gives possibility to use Cartesian coordinates and by this considerably simplifies computation of the robot control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.
Permanent Link: http://hdl.handle.net/11104/0130675