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The direct kinematics of redundant parallel robot for predictive control
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SYSNO ASEP 0410809 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title The direct kinematics of redundant parallel robot for predictive control Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Böhm, Josef (UTIA-B)
Valášek, M. (CZ)Issue data Pardubice: VŠCHT, 2002 ISBN 80-7149-452-1 Source Title Proceedings of the 5th International Scientific - Technical Conference Process Control 2002 / Taufer I. ; Krejčí S. Pages s. 1-10 Number of pages 10 s. Action Process Control 2002 /5./ Event date 10.06.2002-12.06.2002 VEvent location Kouty nad Desnou Country CZ - Czech Republic Event type WRD Language eng - English Country CZ - Czech Republic Keywords direct kinematics ; planar redundant parallel robot ; global operational-space control Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z1075907 - UTIA-B Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
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