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Publication details

The direct kinematics for path control of redundant parallel robots

Conference Paper (international conference)

Böhm Josef, Belda Květoslav, Valášek M.

serial: Advances in Systems Science: Measurement, Circuits and Control, p. 253-258 , Eds: Mastorakis N. E., Pecorelli-Peres L. A.

publisher: WSES Press, (Rethymno 2001)


action: WSES International Conference on Circuits, Systems, Communications and Computers. CSCC 2001 /5./, (Rethymno, GR, 08.07.2001-15.07.2001)

research: AV0Z1075907

project(s): GA101/99/0729, GA ČR, 300104412, GA MŠk

keywords: direct kinematics, planar redundant parallel robot, nonlinear system

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abstract (eng):

The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of the direct kinematics for real-time path control of planar redundant parallel robot. The main reason is that the direct kinematics gives possibility to use Cartesian coordinates and by this considerably simplifies computation of the robot control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.

Cosati: 09N


2012-12-21 16:10