Browsing by Author "Záda Václav"
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- ItemApplication of Hamiltonian Mechanics in Exponentially Stable Control of Robots(ACAD SCI CZECH REPUBLIC, INST THERMOMECHANICS, DOLEJSKOVA 5, PRAGUE 8, 182 00, CZECH REPUBLIC, 2017) Záda Václav
- ItemApplication of Hamiltonian mechanics to control design for industrial robotic manipulators(Institute of Electrical and Electronics, 2017) Záda VáclavThe paper deals with a tracking control for robotic manipulators, where the robot dynamics is described by means of Hamiltonian mechanics. This way leads to different physical descriptive quantities used in control design. In the paper, the model-oriented Lyapunov-based control is considered. It is introduced in the novel formulation using Hamiltonian mechanics and compared with the conventional formulation based on Lagrangian mechanics. The theoretical results, generally applicable to usual articulated industrial robotic manipulators, are demonstrated on one specific robot arm with three degrees of freedom.
- ItemCombined optimal control technique for robot manipulators(Institute of Thermomechanics AS CR, v.v.i., 2011) Záda Václav
- ItemConcepts of Modeling and Kontrol of Industrial Articulated Robots for Efficient(Verlag Wissenschaftliche Scripten, 2014) Záda Václav
- ItemDevelopment of a robotic arm suitable for demonstration of advanced control methods(IEEE, 2017) Kajzr Daniel; Beran Leoš; Záda Václav—Our article deals with the development of a robotic arm with “open control system” (for this particular application - with two degrees of freedom and possibility to add). The open control system allows, together with the known parameters of our robotic arm, to use advanced control methods. The robotic arm is controlled by a PLC and automatically generated code via tools - BR Target for Simulink. This tool allows us to convert Simulink models into an automatically generated code in C/C++ and its direct implementation on PLCs. This method of a design allows an easy implementation for sophisticated simulation models and control structures. The article focuses on the preparation and evaluation of the properties of a robotic arm for implementation possibilities of advanced control methods. At first, we found the physical limitations of the individual actuators. Then we dealt with the problems of generating the trajectory with respect to the physical limitations of the individual actuators. For the dynamics of the robotic arm spline functions for trajectory generation and performed measurements of lag errors are used. In conclusion, we evaluated the advantages and disadvantages of this method of control and outlined possible applications for which we can apply this kind of control.
- ItemExponentially stable tracking control in terms of Hamiltonian mechanics(2017) Záda VáclavThis paper deals with the control of electromechanical systems with more degrees of freedom. Dynamics is primarily described by Hamilton’s equations. The Hamiltonian formalism leads to different physical descriptive quantities, considered for control design, than much more used Lagrangian formalism. In the paper, as representative control approaches, model-oriented exponentially stable control is considered. This control algorithm is naturally robust and hence may be implemented on technical devices.
- ItemGlobal Optimal Feedback-Linearizing Control of Robot Manipulators(2013) Chatratei Abbas; Záda Václav
- ItemManipulator robotic arm balancing system(2020) Beran Leoš; Záda Václav; Petr Tomáš; Břoušek Josef
- ItemMathematical modeling of industrial robots based on Hamiltonian mechanics(Technical University of Košice, 2016) Záda Václav
- ItemMobile robot concept with walking wheels made of rotary segments(IEEE, 2017) Vojíř Martin; Záda Václav; Beran LeošCrossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs. For control of walking-wheels a drive stored in an aluminium frame was build. The drive allows to set its shaft into two position. One for control of movement of the drive and second for control of opening and closing of wheel segments. Current feedback regulator is in the frame of drive. PLC with smart device controller (SDC) structure is used for control of the mobile robot. It allows to control drives without specialized motion control units. The main goal of this paper is to describe a mechanical construction of this mobile robot, its drives and basics of software motion control for further testing of mobile robot wheels on different terrains in different environments.
- ItemModeling and identification of positioning part of KUKA robot(Institute of Thermomechanics AS CR,, 2011) Záda Václav; Lindr David
- ItemPredictive control for offset-free motion of industrial articulated robots(Institute of Electrical and Electronics Engineers Inc., 2017) Záda Václav—This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are introduced. The theoretical results are demonstrated by the set of simulation examples with the six-axis multipurpose ABB robot IRB 140 that belongs to the large class of industrial articulated robots.
- ItemROBOT CONTROL IN TERMS OF HAMILTONIAN MECHANICS(Institute of Thermomechanics Academy of Science of the Czech Republic, v.v.i. Prague, 2016) Záda Václav
- ItemRobotic arm balancing system of a manipulator(2020) Beran Leoš; Záda Václav; Petr Tomáš; Břoušek Josef
- ItemTRAVELLING VEHICLE WHEEL(2016) Záda Václav; Brabec Pavel; Voženílek Robert