0410809 20240103182240.820060210235959.9 80-7149-452-1 Pardubice VŠCHT 2002 10 s. 1-10TauferI.KrejčíS. direct kinematics planar redundant parallel robot global operational-space control 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*0101070 Böhm Josef UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021075 Valášek M. CZ http://library.utia.cas.cz/separaty/historie/belda-0410809.pdf 09N 300104412 IG ČVUT CZ cav_un_auth*0212775 GA101/99/0729 GA ČR cav_un_auth*0003995 CEZ:AV0Z1075907 This paper deals with the design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this considerably simplifies model of the robot and computation of high level control based on knowledge of such model, eg. Predictive Control. As a subtask of design of the direct kinematics, the trajectory planning is discussed. cav_un_auth*0212902 Process Control 2002 /5./ Kouty nad Desnou CZ 10.06.2002-12.06.2002 BC AS http://hdl.handle.net/11104/0130896 UTIA-B 20020023 2002 2002 Pardubice VŠCHT 80-7149-452-1 Proceedings of the 5th International Scientific - Technical Conference Process Control 2002 1 10 Taufer I. 340 Krejčí S. 340