"Pr\u00E1ce se zab\u00FDv\u00E1 \u0159\u00EDzen\u00EDm syst\u00E9m\u016F s nedostatkem pohon\u016F jak mezi rovnov\u00E1\u017En\u00FDmi body tak \u0159\u00EDzen\u00EDm v obecn\u00E9m bod\u011B. P\u0159i \u0159\u00EDzen\u00ED mechanismus proch\u00E1z\u00ED singul\u00E1rn\u00ED polohami z hlediska \u0159\u00EDzen\u00ED. C\u00EDlem je naj\u00EDt vhodnou trajektorii spojuj\u00EDc\u00ED po\u010D\u00E1te\u010Dn\u00ED a koncovou polo-hu, tato trajektorie pak tvo\u0159\u00ED z\u00E1klad \u0159\u00EDzen\u00ED. Pro mechanismy v t\u00EDhov\u00E9m poli lze parame-try trajektorie z\u00EDskat z tzv. p\u0159irozen\u00E9ho pohybu, co\u017E je pohyb mezi dv\u011Bma rovnov\u00E1\u017En\u00FDmi stavy, kdy jeden rovnov\u00E1\u017En\u00FD stav je stabiln\u00ED a druh\u00FD nestabiln\u00ED. P\u0159i \u0159\u00EDzen\u00ED mechanism\u016F v obecn\u00E9m bod\u011B je vyu\u017Eito dop\u0159edn\u00E9ho \u0159\u00EDzen\u00ED pomoc\u00ED harmonick\u00FDch funkc\u00ED, parametry \u0159\u00EDzen\u00ED jsou z\u00EDsk\u00E1ny optimalizac\u00ED (nazvan\u00E9ho prediktivn\u00EDm \u0159\u00EDzen\u00EDm) a pomoc\u00ED nalad\u011Bn\u00E9ho PID zp\u011Btnovazebn\u00EDho regul\u00E1toru. \u0158\u00EDzen\u00ED je simulov\u00E1no na tuh\u00FDch mechanismech a tak\u00E9 na struktur\u00E1ch s poddajnost\u00ED."@cs . . "Pr\u00E1ce se zab\u00FDv\u00E1 \u0159\u00EDzen\u00EDm syst\u00E9m\u016F s nedostatkem pohon\u016F jak mezi rovnov\u00E1\u017En\u00FDmi body tak \u0159\u00EDzen\u00EDm v obecn\u00E9m bod\u011B. P\u0159i \u0159\u00EDzen\u00ED mechanismus proch\u00E1z\u00ED singul\u00E1rn\u00ED polohami z hlediska \u0159\u00EDzen\u00ED. C\u00EDlem je naj\u00EDt vhodnou trajektorii spojuj\u00EDc\u00ED po\u010D\u00E1te\u010Dn\u00ED a koncovou polo-hu, tato trajektorie pak tvo\u0159\u00ED z\u00E1klad \u0159\u00EDzen\u00ED. Pro mechanismy v t\u00EDhov\u00E9m poli lze parame-try trajektorie z\u00EDskat z tzv. p\u0159irozen\u00E9ho pohybu, co\u017E je pohyb mezi dv\u011Bma rovnov\u00E1\u017En\u00FDmi stavy, kdy jeden rovnov\u00E1\u017En\u00FD stav je stabiln\u00ED a druh\u00FD nestabiln\u00ED. P\u0159i \u0159\u00EDzen\u00ED mechanism\u016F v obecn\u00E9m bod\u011B je vyu\u017Eito dop\u0159edn\u00E9ho \u0159\u00EDzen\u00ED pomoc\u00ED harmonick\u00FDch funkc\u00ED, parametry \u0159\u00EDzen\u00ED jsou z\u00EDsk\u00E1ny optimalizac\u00ED (nazvan\u00E9ho prediktivn\u00EDm \u0159\u00EDzen\u00EDm) a pomoc\u00ED nalad\u011Bn\u00E9ho PID zp\u011Btnovazebn\u00EDho regul\u00E1toru. \u0158\u00EDzen\u00ED je simulov\u00E1no na tuh\u00FDch mechanismech a tak\u00E9 na struktur\u00E1ch s poddajnost\u00ED." . . "2"^^ . "\u0158\u00EDzen\u00ED mechanick\u00FDch syst\u00E9m\u016F s nedostatkem pohon\u016F"@cs . . "\u0158\u00EDzen\u00ED mechanick\u00FDch syst\u00E9m\u016F s nedostatkem pohon\u016F" . . . "RIV/68407700:21220/13:00214081!RIV14-TA0-21220___" . "2"^^ . "Val\u00E1\u0161ek, Michael" . "103049" . "RIV/68407700:21220/13:00214081" . . . . "The work deals with the control of underactuated mechanical systems both between equilibrium positions and in the general position. The considered mechanical systems pass through the singular positions in light of the control theory. The goal is to find feasible trajectory connecting the initial and final positions that can be the basis of the system control. The parameters of such trajectory are obtained using so called natural motion, which is the movement in the gravity field between equilibrium positions; the one is stable and the other unstable. It is used feedforward control for controlling the mechanisms in the general position based on harmonic functions. Their parameters are obtained by optimization (called predictive control) and using tuned PID feedback controller. The procedure is demonstrated on the different rigid underactuated mechanisms and on the structures with compliancy too."@en . . "Control of underatuated mechanical systems"@en . . . "underactuated systems; nonlinear control; mechanical systems; flexible structure control"@en . . . . "\u0158\u00EDzen\u00ED mechanick\u00FDch syst\u00E9m\u016F s nedostatkem pohon\u016F"@cs . "Control of underatuated mechanical systems"@en . "\u0158\u00EDzen\u00ED mechanick\u00FDch syst\u00E9m\u016F s nedostatkem pohon\u016F" . "Neusser, Zden\u011Bk" . . . . "[A118BE53A73D]" . "P(TE01020075)" . "21220" . .