000001384 001__ 1384
000001384 005__ 20141118153509.0
000001384 04107 $$acze
000001384 046__ $$k2003-05-12
000001384 100__ $$aBelda, K.
000001384 24500 $$aSingular cases of the planar parallel robot

000001384 24630 $$n9.$$pEngineering Mechanics 2003
000001384 260__ $$bInstitute of Theoretical and Applied Mechanics AS CR, Prague
000001384 506__ $$arestricted
000001384 520__ $$2eng$$aSingular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases. The analysis of the singularities is important for real application, i.e. for control design, which should ensure effective and safe cooperation of all drives - actuators in the robot structure.

000001384 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000001384 653__ $$a

000001384 7112_ $$aEngineering Mechanics 2003$$cSvratka (CZ)$$d2003-05-12 / 2003-05-15$$gEM2003
000001384 720__ $$aBelda, K.$$iStejskal, V.
000001384 8560_ $$ffischerc@itam.cas.cz
000001384 8564_ $$s864907$$uhttps://invenio.itam.cas.cz/record/1384/files/105-Kvetoslav-Belda-PT.pdf$$y
             Original version of the author's contribution as presented on CD, MCT.
            
000001384 962__ $$r971
000001384 980__ $$aPAPER