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Kinematics and dynamics of parallel structures for control design
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SYSNO ASEP 0411260 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Kinematics and dynamics of parallel structures for control design Author(s) Belda, Květoslav (UTIA-B) RID, ORCID Issue data Praha: ÚTIA AV ČR, 2003 Source Title Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control / Belda K. Pages s. 12-17 Publication form CD-ROM - CD-ROM Action International PhD Workshop Information Technologies & Control /4./ Event date 16.09.2003-20.09.2003 VEvent location Libverda Country CZ - Czech Republic Event type EUR Language eng - English Country CZ - Czech Republic Keywords parallel robots ; kineamtic and dynamic model analysis ; drive redundancy Subject RIV BC - Control Systems Theory R&D Projects GA101/03/0620 GA ČR - Czech Science Foundation (CSF) GA102/02/0204 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z1075907 - UTIA-B Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Number of the records: 1