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Publication details

Kinematics and dynamics of parallel structures for control design

Conference Paper (international conference)

Belda Květoslav

serial: Collection of Presentations of the 4th International PhD Workshop Information Technologies and Control, p. 12-17 , Eds: Belda K.

publisher: ÚTIA AV ČR, (Praha 2003)

action: International PhD Workshop Information Technologies & Control /4./, (Libverda, CZ, 16.09.2003-20.09.2003)

research: CEZ:AV0Z1075907

project(s): GA101/03/0620, GA ČR, GA102/02/0204, GA ČR

keywords: parallel robots, kineamtic and dynamic model analysis, drive redundancy

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abstract (eng):

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.

Cosati: 09I, 09N


2012-12-21 16:10