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Publication details

The direct kinematics of redundant parallel robot for predictive control

Conference Paper (international conference)

Belda Květoslav, Böhm Josef, Valášek M.


serial: Proceedings of the 5th International Scientific - Technical Conference Process Control 2002, p. 1-10 , Eds: Taufer I., Krejčí S.

publisher: VŠCHT, (Pardubice 2002)

action: Process Control 2002 /5./, (Kouty nad Desnou, CZ, 10.06.2002-12.06.2002)

research: CEZ:AV0Z1075907

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

keywords: direct kinematics, planar redundant parallel robot, global operational-space control

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abstract (eng):

This paper deals with the design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and computation of high level control based on knowledge of such model, eg. Predictive Control. As a subtask of design of the direct kinematics, the trajectory planning is discussed.

Cosati: 09N

RIV: BC

2012-12-21 16:10