0410586 20240103182224.620060210235959.9 960-8052-39-4 Rethymno WSES Press 2001 6 s. Electrical and Computer Engineering Series. Series A. 253-258MastorakisN. E.Pecorelli-PeresL. A. direct kinematics planar redundant parallel robot nonlinear system cav_un_auth*0101070 Böhm Josef UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101064 Belda Květoslav UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021075 Valášek M. CZ http://library.utia.cas.cz/separaty/historie/bohm-0410586.pdf 09N GA101/99/0729 GA ČR cav_un_auth*0003995 300104412 GA MŠk cav_un_auth*0212775 AV0Z1075907 The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of the direct kinematics for real-time path control of planar redundant parallel robot. The main reason is that the direct kinematics gives possibility to use Cartesian coordinates and by this considerably simplifies computation of the robot control. As a subtask of design of the direct kinematics, the trajectory planning is discussed. cav_un_auth*0212774 WSES International Conference on Circuits, Systems, Communications and Computers. CSCC 2001 /5./ Rethymno GR 08.07.2001-15.07.2001 BC AS http://hdl.handle.net/11104/0130675 UTIA-B 20010055 2001 2001 Rethymno WSES Press 960-8052-39-4 Advances in Systems Science: Measurement, Circuits and Control 253 258 Mastorakis N. E. 340 Pecorelli-Peres L. A. 340