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

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-0411260.pdf
Original record: http://hdl.handle.net/11104/0131345

Permalink: http://www.nusl.cz/ntk/nusl-35033


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