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Control and calibration of redundantly actuated parallel robots
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SYSNO ASEP 0410804 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Control and calibration of redundantly actuated parallel robots Author(s) Valášek, M. (CZ)
Belda, Květoslav (UTIA-B) RID, ORCID
Florian, M. (CZ)Issue data Chemnitz: Fraunhofer IWU, 2002 ISBN 3-928921-76-2 Source Title Development Methods and Application Experience of Parallel Kinematics. Conference Proceedings / Neugebauer R. Pages s. 411-427 Series number 16 Number of pages 17 s. Action PKS 2002. Chemnitz Parallel Kinematics Seminar 2002 /3./ Event date 23.04.2002-25.04.2002 VEvent location Chemnitz Country DE - Germany Event type WRD Language eng - English Country DE - Germany Keywords redundantly actuated parallel robots ; backlash problem ; model based controls Subject RIV BC - Control Systems Theory R&D Projects KSK1019101 GA AV ČR - Academy of Sciences of the Czech Republic (AV ČR) CEZ AV0Z1075907 - UTIA-B Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Number of the records: 1