FLATNESS APPROACH OF OPEN-CHAIN AND CLOSED-CHAIN PLANAR STRUCTURES

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F20%3A00345592" target="_blank" >RIV/68407700:21220/20:00345592 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
FLATNESS APPROACH OF OPEN-CHAIN AND CLOSED-CHAIN PLANAR STRUCTURES
Original language description
The flatness theory allows to transform a system into the system with flat variables. The planned trajectory is then transformed into the flat space. This property of a system is called differential flatness. However, not every system is differentially flat. The primary motivation of transformation is the linear form in the flat space and the control of a system is possible by the linear strategy. The paper deals with planar open-chain and closed-chain structures and their flatness possibilities. The open-chain as well as closed-chain structures are very often used for the manipulators and robots and therefore the investigation of the flatness properties of these structures is still very actual question as well as the underactuated system in the connection with these structures and the flatness transformation.
Czech name
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Czech description
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Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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