. "Z(MSM 242200001)" . . "580459" . "Vysok\u00E9 u\u010Den\u00ED technick\u00E9 v Brn\u011B" . . . "1"^^ . "Position Control of Robots under Endpoint Constraints." . . . . "Position Control of Robots under Endpoint Constraints."@en . "1"^^ . "%22PD Control;Stability;Equilibrium;Control on Surface%22"@en . . "24220" . "RIV/46747885:24220/04:00000032!RIV/2005/MSM/242205/N" . "4"^^ . "13.th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD\u201904" . . . . "RIV/46747885:24220/04:00000032" . "[F5C72B1DD691]" . . "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." . "V p\u0159\u00EDsp\u011Bvku je studov\u00E1na jist\u00E1 mo\u017Enost PD \u0159\u00EDzen\u00ED koncov\u00E9ho \u010Dlenu robota na p\u0159edepsan\u00E9 plo\u0161e. Plocha je pops\u00E1na skal\u00E1rn\u00ED funkc\u00ED t\u0159\u00ED prom\u011Bnn\u00FDch, p\u0159edpokl\u00E1d\u00E1 se jej\u00ED diferencovatelnost a spojitost prvn\u00EDch parci\u00E1ln\u00EDch derivac\u00ED.Kontaktn\u00ED s\u00EDla p\u016Fsob\u00ED jednak kolmo na plochu a jednak ve sm\u011Bru te\u010Dn\u00E9m, proti sm\u011Bru pohybu. V \u010Dl\u00E1nku je dok\u00E1z\u00E1no tvrzen\u00ED o asymptotick\u00E9 stabilit\u011B tohoto \u0159\u00EDzen\u00ED."@cs . "64-67" . "Brno" . "Brno" . "80-7204-341-2" . "Z\u00E1da, V\u00E1clav" . . "Position Control of Robots under Endpoint Constraints." . "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 . . . "Polohov\u00E9 \u0159\u00EDzen\u00ED koncov\u00E9ho \u010Dlenu robota na plo\u0161e"@cs . . "Position Control of Robots under Endpoint Constraints."@en . "Polohov\u00E9 \u0159\u00EDzen\u00ED koncov\u00E9ho \u010Dlenu robota na plo\u0161e"@cs . "2004-06-01+02:00"^^ . .