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
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DOI - Digital Object Identifier
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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
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
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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