|zpravodaj ČSKI - březen 2002 [ pdf ]|
datum: 19.3.2002 v 14:00
název: Control and Calibration of Redundantly Actuated Parallel Robots
přednášející: Květoslav Belda (UTIA)
místo konání: UTIA, místnost č.474
souhrn: Parallel structures are one of the developmental always providing improvement, in general point of view, of the mechanical and qualitative properties of the robots manipulators. In industrial applications, there are a lot of escalating requirements on speed and at the same time on accuracy and strength of the robot construction/mechanical chain: machine (robot)tool/griperworkpiece.
This presentation focus on experiences with real-time implementation of the control, both decentralized and centralized approach and in detail tries to describe the design of these control approaches for redundantly actuated parallel robots.
Finally, the presentation outlines the problem of the calibration of such parallel structures.