Název:
Kinematics and dynamics of parallel structures for control design
Autoři:
Belda, Květoslav Typ dokumentu: Příspěvky z konference Konference/Akce: International PhD Workshop Information Technologies & Control /4./, Libverda (CZ), 2003-09-16 / 2003-09-20
Rok:
2003
Jazyk:
eng
Abstrakt: The presentation deals with the kinematic and dynamic analysis of parallel structures of robotic systems. From the analysis, the model of the structure is obtained and used for simulation, control design, trajectory planning, determination of geometry of structure components (calibration), singular analysis and force construction design (choice of the drives). As an auspicious control approach is model-based approach that enable to effectively design control actions in comparison with classical approaches.
Klíčová slova:
drive redundancy; kineamtic and dynamic model analysis; parallel robots Číslo projektu: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP), GA102/02/0204 (CEP) Poskytovatel projektu: GA ČR, GA ČR Zdrojový dokument: Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control