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Kinematics and dynamics of parallel structures for control design
- 1.0411260 - UTIA-B 20030247 RIV CZ eng C - Conference Paper (international conference)
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]
R&D Projects: GA ČR GA101/03/0620; GA ČR GA102/02/0204
Institutional research plan: CEZ:AV0Z1075907
Keywords : parallel robots * kineamtic and dynamic model analysis * drive redundancy
Subject RIV: BC - Control Systems Theory
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.
Permanent Link: http://hdl.handle.net/11104/0131345
Number of the records: 1