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Publication details

Control and calibration of redundantly actuated parallel robots

Conference Paper (international conference)

Valášek M., Belda Květoslav, Florian M.

serial: Development Methods and Application Experience of Parallel Kinematics. Conference Proceedings, p. 411-427 , Eds: Neugebauer R.

publisher: Fraunhofer IWU, (Chemnitz 2002)


action: PKS 2002. Chemnitz Parallel Kinematics Seminar 2002 /3./, (Chemnitz, DE, 23.04.2002-25.04.2002)

research: CEZ:AV0Z1075907

project(s): KSK1019101, GA AV ČR

keywords: redundantly actuated parallel robots, backlash problem, model based controls

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abstract (eng):

The paper deals with design of control of redundantly actuated parallel robots and their calibration. There have been investigated two strategies: cooperation control and antagonistic control. The danger of undesired antagonistic behavior is analyzed and principles of required coordination are described. The other great challenge of redundant actuation of parallel machines is the principal possibility to provide full on-line calibration. There have been investigated approaches leading to linear equations.

Cosati: 09N


2012-12-21 16:10