"9"^^ . . . . "9629"^^ . "0"^^ . "9"^^ . "12492"^^ . "2011-12-31+01:00"^^ . . "Research and development of the modular robotic manipulator for grease and paint removing lines"@en . . . "The goal of the research and development work is the creation of the universal modular multi-axis robotic manipulator for grease and paint removing lines. Firstly, the design of mechanical construction of the robot will be made. The next goal is the research and development of the advanced algorithms for motion control of robotic manipulators. There are various particular problems to be solved, especially time-optimal trajectory tracking, multi-axis synchronization, optimization of manipulation steps sequence or attenuation of the residual vibrations. The developed algorithms will be integrated into function blocks library of the Matlab/Simulink control system and the selected real-time control system. Further, they will be implemented on a chosen hardware platform. The prototype manipulator will be built for practical testing and system tuning."@en . "motion control; robotic manipulators; optimal trajectory tracking; residual vibrations attenuation"@en . "V\u00FDzkum a v\u00FDvoj modul\u00E1rn\u00EDho robotick\u00E9ho manipul\u00E1toru pro nasazen\u00ED v odma\u0161\u0165ovac\u00EDch a odlakovac\u00EDch link\u00E1ch"@cs . . "1"^^ . "2009-03-01+01:00"^^ . . . . . . "\u00DAkolem v\u00FDzkumn\u00FDch a v\u00FDvojov\u00FDch prac\u00ED bude vytvo\u0159en\u00ED univerz\u00E1ln\u00EDho modul\u00E1rn\u00EDho v\u00EDceos\u00E9ho robotick\u00E9ho manipul\u00E1toru pro nasazen\u00ED v odma\u0161\u0165ovac\u00EDch a odlakovac\u00EDch link\u00E1ch. Nejprve bude proveden n\u00E1vrh hybridn\u00ED mechanick\u00E9 konstrukce robotu. Dal\u0161\u00EDm c\u00EDlem je v\u00FDzkum a v\u00FDvoj pokro\u010Dil\u00FDch algoritm\u016F pro \u0159\u00EDzen\u00ED pohybu robotick\u00FDch manipul\u00E1tor\u016F. S \u0159\u00EDzen\u00EDm pohybu jsou spojeny d\u00EDl\u010D\u00ED probl\u00E9my, kter\u00E9 budou \u0159e\u0161eny, zejm\u00E9na sledov\u00E1n\u00ED \u010Dasov\u011B optim\u00E1ln\u00ED trajektorie, synchronizace pohybu ve v\u00EDce os\u00E1ch optimalizace posloupnosti manipula\u010Dn\u00EDch krok\u016F a tlumen\u00ED rezidu\u00E1ln\u00EDch vibrac\u00EDmechanick\u00E9 konstrukce stroje. Navr\u017Een\u00E9 algoritmy budou integrov\u00E1ny do knihovny funk\u010Dn\u00EDch blok\u016F syst\u00E9mu Matlab/Simulink a implementov\u00E1ny na zvolen\u00E9 hardwarov\u00E9 platform\u011B pro \u0159\u00EDzen\u00ED robotu. Bude navr\u017Een a vytvo\u0159en modul komunikace s nad\u0159azen\u00FDm syst\u00E9mem \u0159\u00EDzen\u00ED linky. Pro praktick\u00E9 zkou\u0161ky a odlad\u011Bn\u00ED syst\u00E9mu bude postaven prototypov\u00FD manipul\u00E1tor, kter\u00FD bude otestov\u00E1n na re\u00E1ln\u00E9 myc\u00ED lince."@cs . "1"^^ .