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FLATNESS APPROACH OF VARIOUS SERIAL AND SERIAL-PARALLEL ROBOT STRUCTURES

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00336648" target="_blank" >RIV/68407700:21220/19:00336648 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    FLATNESS APPROACH OF VARIOUS SERIAL AND SERIAL-PARALLEL ROBOT STRUCTURES

  • Original language description

    Flatness Control of the robots is very actual question. The main goal of the flatness control in this case is to linearize the system which represents the dynamic model of the robot. The paper deals with serial robot structures and the underactuated ones as well. The demonstrative examples are shown. The main aim is to analyze the existing robotic models, use models to investigate the flatness transformation, verify the control strategy, use different trajectory. The underactuated flatness transformation is investigated in the case of the flexible robotic joint.

  • Czech name

  • Czech description

Classification

  • Type

    O - Miscellaneous

  • CEP classification

  • OECD FORD branch

    20301 - Mechanical engineering

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2019

  • Confidentiality

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