Original title:
Kinematics and dynamics of parallel structures for control design
Authors:
Belda, Květoslav Document type: Papers Conference/Event: International PhD Workshop Information Technologies & Control /4./, Libverda (CZ), 2003-09-16 / 2003-09-20
Year:
2003
Language:
eng Abstract:
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.
Keywords:
drive redundancy; kineamtic and dynamic model analysis; parallel robots Project no.: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP), GA102/02/0204 (CEP) Funding provider: GA ČR, GA ČR Host item entry: Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control