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  • V příspěvku je studována jistá možnost PD řízení koncového členu robota na předepsané ploše. Plocha je popsána skalární funkcí tří proměnných, předpokládá se její diferencovatelnost a spojitost prvních parciálních derivací.Kontaktní síla působí jednak kolmo na plochu a jednak ve směru tečném, proti směru pohybu. V článku je dokázáno tvrzení o asymptotické stabilitě tohoto řízení. (cs)
  • This contribution is oriented to study PD-control of the robot endpoint that is constrained on any surface. This surface is described by a scalar function, which depends on the Cartesian co-ordinates that are fixedat the inertial reference frame. The contact force arises in the direction against the velocity of motion. In the paper the theorem about asymptotically stability in some neighborhood of an equilibrium state is proved.
  • This contribution is oriented to study PD-control of the robot endpoint that is constrained on any surface. This surface is described by a scalar function, which depends on the Cartesian co-ordinates that are fixedat the inertial reference frame. The contact force arises in the direction against the velocity of motion. In the paper the theorem about asymptotically stability in some neighborhood of an equilibrium state is proved. (en)
Title
  • Polohové řízení koncového členu robota na ploše (cs)
  • Position Control of Robots under Endpoint Constraints.
  • Position Control of Robots under Endpoint Constraints. (en)
skos:prefLabel
  • Polohové řízení koncového členu robota na ploše (cs)
  • Position Control of Robots under Endpoint Constraints.
  • Position Control of Robots under Endpoint Constraints. (en)
skos:notation
  • RIV/46747885:24220/04:00000032!RIV/2005/MSM/242205/N
http://linked.open.../vavai/riv/strany
  • 64-67
http://linked.open...avai/riv/aktivita
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  • Z(MSM 242200001)
http://linked.open...vai/riv/dodaniDat
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http://linked.open...iv/duvernostUdaju
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  • 580459
http://linked.open...ai/riv/idVysledku
  • RIV/46747885:24220/04:00000032
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • %22PD Control;Stability;Equilibrium;Control on Surface%22 (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [F5C72B1DD691]
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  • Brno
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  • Brno
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  • 13.th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD’04
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  • Záda, Václav
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number of pages
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  • Vysoké učení technické v Brně
https://schema.org/isbn
  • 80-7204-341-2
http://localhost/t...ganizacniJednotka
  • 24220
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