FLATNESS APPROACH OF VARIOUS SERIAL AND SERIAL-PARALLEL ROBOT STRUCTURES

Kód výsledku v 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>
Výsledek na webu
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DOI - Digital Object Identifier
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Jazyk výsledku
angličtina
Název v původním jazyce
FLATNESS APPROACH OF VARIOUS SERIAL AND SERIAL-PARALLEL ROBOT STRUCTURES
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
FLATNESS APPROACH OF VARIOUS SERIAL AND SERIAL-PARALLEL ROBOT STRUCTURES
Popis výsledku anglicky
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.

Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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