Control and calibration of redundantly actuated parallel robots

0410804 - UTIA-B 20020018 RIV DE eng C - Conference Paper (international conference)
Valášek, M. - Belda, Květoslav - Florian, M.
Control and calibration of redundantly actuated parallel robots.
Chemnitz: Fraunhofer IWU, 2002. 16. ISBN 3-928921-76-2. In: Development Methods and Application Experience of Parallel Kinematics. Conference Proceedings. - (Neugebauer, R.), s. 411-427
[PKS 2002. Chemnitz Parallel Kinematics Seminar 2002 /3./. Chemnitz (DE), 23.04.2002-25.04.2002]
R&D Projects: GA AV ČR KSK1019101
Institutional research plan: CEZ:AV0Z1075907
Keywords : redundantly actuated parallel robots * backlash problem * model based controls
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0410804.pdf

The paper deals with design of control of redundantly actuated parallel robots and their calibration. There have been investigated two strategies: cooperation control and antagonistic control. The danger of undesired antagonistic behavior is analyzed and principles of required coordination are described. The other great challenge of redundant actuation of parallel machines is the principal possibility to provide full on-line calibration. There have been investigated approaches leading to linear equations.
Permanent Link: http://hdl.handle.net/11104/0130891