The direct kinematics of redundant parallel robot for predictive control

0410809 - UTIA-B 20020023 RIV CZ eng C - Conference Paper (international conference)
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]
R&D Projects: GA ČR GA101/99/0729
Grant - others:IG ČVUT(CZ) 300104412
Institutional research plan: CEZ:AV0Z1075907
Keywords : direct kinematics * planar redundant parallel robot * global operational-space control
Subject RIV: BC - Control Systems Theory
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.
Permanent Link: http://hdl.handle.net/11104/0130896