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Synthesis of Computed Torques Control of Flexible Robot with Additional Sensors

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00242197" target="_blank" >RIV/68407700:21220/15:00242197 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Synthesis of Computed Torques Control of Flexible Robot with Additional Sensors

  • Original language description

    The strategy presented in this paper combines the usage of redundant set of sensors and application of the computed torques control method. Sensors in conventional serial robots are placed next to the electrical motors before the gearboxes. The preparedfunctional model is equipped with additional sensors directly in revolute joints (behind the gearboxes) and also with deformation sensors sensing the arm bending and torsional deformations. Computed torques method realize the linearization of the dynamicsystem through the inverse dynamics model.

  • Czech name

  • Czech description

Classification

  • Type

    O - Miscellaneous

  • CEP classification

    JR - Other machinery industry

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/GA13-39057S" target="_blank" >GA13-39057S: Position Feedback Based Stiness Increase of Robots by Redundant Measurement</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2015

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů