|zpravodaj ČSKI - leden 2004 [ pdf ]|
datum: 22.1.2004 v 9:00
název: Control of Redundant Parallel Structures of Robotic Systems
přednášející: Květoslav Belda (UTIA)
místo konání: UI, 2.patro, místnost č.318
souhrn: Nowadays, the further development in industrial area is constrained by deficit of powerful machines with adequate dynamics and stiffness. Utilization of parallel robotic structures controlled by suitable control algorithms seems to be promising way to improve the most of mechanical properties and productivity of machine tools and their centers.
At the lecture, the several examples of parallel structures will be introduced. The parallel robots - parallel structures can be simply understood as movable truss constructions or as movable work platforms supported by several parallel arms. The main objective of the lecture will be introduction of the possible ways of the control of mentioned structures based on some suitable interpretation of mechanical models.