Trajectory planning and control of manipulators based on tensegrity structures with manipulability and modal properties optimization
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F24%3A00379192" target="_blank" >RIV/68407700:21220/24:00379192 - isvavai.cz</a>
Výsledek na webu
<a href="https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf" target="_blank" >https://compmech.kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf</a>
DOI - Digital Object Identifier
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Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Trajectory planning and control of manipulators based on tensegrity structures with manipulability and modal properties optimization
Popis výsledku v původním jazyce
This paper deals with the description of a methodology for trajectory planning and control of cable-driven robots with redundant actuators based on tensegrity structures. The solution of the trajectory planning problem is based on the analysis of the workspace by the dynamic relaxation method. Based on this analysis, an interpolation is performed for the desired end-effector trajectory, which is then extended by the optimization of the structure shape with respect to key properties of classic serial robots such as dexterity, singular number values and natural frequencies. The control itself is then implemented using the Computed Torque method. The developed methodology is presented on a planar manipulator with tensegrity features.
Název v anglickém jazyce
Trajectory planning and control of manipulators based on tensegrity structures with manipulability and modal properties optimization
Popis výsledku anglicky
This paper deals with the description of a methodology for trajectory planning and control of cable-driven robots with redundant actuators based on tensegrity structures. The solution of the trajectory planning problem is based on the analysis of the workspace by the dynamic relaxation method. Based on this analysis, an interpolation is performed for the desired end-effector trajectory, which is then extended by the optimization of the structure shape with respect to key properties of classic serial robots such as dexterity, singular number values and natural frequencies. The control itself is then implemented using the Computed Torque method. The developed methodology is presented on a planar manipulator with tensegrity features.
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
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OECD FORD obor
20301 - Mechanical engineering
Návaznosti výsledku
Projekt
<a href="/cs/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronické tensegrity pro energeticky efektivní lehké roboty</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2024
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů