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The direct kinematics for path control of redundant parallel robots
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SYSNO ASEP 0410586 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title The direct kinematics for path control of redundant parallel robots Author(s) Böhm, Josef (UTIA-B)
Belda, Květoslav (UTIA-B) RID, ORCID
Valášek, M. (CZ)Issue data Rethymno: WSES Press, 2001 ISBN 960-8052-39-4 Source Title Advances in Systems Science: Measurement, Circuits and Control / Mastorakis N. E. ; Pecorelli-Peres L. A. Pages s. 253-258 Series Electrical and Computer Engineering Series. Number of pages 6 s. Action WSES International Conference on Circuits, Systems, Communications and Computers. CSCC 2001 /5./ Event date 08.07.2001-15.07.2001 VEvent location Rethymno Country GR - Greece Event type WRD Language eng - English Country GR - Greece Keywords direct kinematics ; planar redundant parallel robot ; nonlinear system Subject RIV BC - Control Systems Theory R&D Projects GA101/99/0729 GA ČR - Czech Science Foundation (CSF) 300104412 GA MŠMT - Ministry of Education, Youth and Sports (MEYS) CEZ 1075907 Annotation The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of the direct kinematics for real-time path control of planar redundant parallel robot. The main reason is that the direct kinematics gives possibility to use Cartesian coordinates and by this considerably simplifies computation of the robot 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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