All

What are you looking for?

All
Projects
Results
Organizations

Quick search

  • Projects supported by TA ČR
  • Excellent projects
  • Projects with the highest public support
  • Current projects

Smart search

  • That is how I find a specific +word
  • That is how I leave the -word out of the results
  • “That is how I can find the whole phrase”

Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00354211" target="_blank" >RIV/68407700:21220/21:00354211 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.3390/machines9120338" target="_blank" >https://doi.org/10.3390/machines9120338</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.3390/machines9120338" target="_blank" >10.3390/machines9120338</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

  • Original language description

    The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    20301 - Mechanical engineering

Result continuities

  • Project

    <a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>

  • Continuities

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

Others

  • Publication year

    2021

  • Confidentiality

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

Data specific for result type

  • Name of the periodical

    Machines

  • ISSN

    2075-1702

  • e-ISSN

    2075-1702

  • Volume of the periodical

    9

  • Issue of the periodical within the volume

    12

  • Country of publishing house

    CH - SWITZERLAND

  • Number of pages

    21

  • Pages from-to

    1-21

  • UT code for WoS article

    000738166400001

  • EID of the result in the Scopus database

    2-s2.0-85121675770