Original title:
The direct kinematics of redundant parallel robot for predictive control
Authors:
Belda, Květoslav ; Böhm, Josef ; Valášek, M. Document type: Papers Conference/Event: Process Control 2002 /5./, Kouty nad Desnou (CZ), 2002-06-10 / 2002-06-12
Year:
2002
Language:
eng Abstract:
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.
Keywords:
direct kinematics; global operational-space control; planar redundant parallel robot Project no.: CEZ:AV0Z1075907 (CEP), 300104412, GA101/99/0729 (CEP) Funding provider: IG ČVUT, GA ČR Host item entry: Proceedings of the 5th International Scientific - Technical Conference Process Control 2002