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

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: http://library.utia.cas.cz/separaty/historie/belda-0410809.pdf
Original record: http://hdl.handle.net/11104/0130896

Permalink: http://www.nusl.cz/ntk/nusl-34920


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Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers