Possibilities of improving trajectory tracking accuracy of spatial 6r robot with nonlinear active 6-DOF absorber

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dc.contributor.authorBeneš, P.
dc.contributor.authorPetr, R.
dc.contributor.authorKrivošej, J.
dc.contributor.authorKraus, K.
dc.contributor.authorŠika, Z.
dc.contributor.editorRendl, Jan
dc.date.accessioned2026-04-30T07:51:18Z
dc.date.available2026-04-30T07:51:18Z
dc.date.issued2026
dc.description.abstract-translatedThis article uses simulations to study the concept of a hybrid system combining a 6R robot with a Stewart platform-type absorber placed on the robot’s end effector. The aim is to improve accuracy of tracking the desired 6-DoF motion of the robot’s end-effector including suppression unwanted vibrations. For the given system, the possibility of coordinated control of this entire nonlinear system is studied with the aim of determining its applicability and limitations. The basis is the use of a modified version of the computed torque method. In the robot model, compliances are considered in this initial study only in the transmissions between individual drives and controlled rotary joints.en
dc.description.sponsorship25-16357S “Absorbing mechanisms with nonlinear dynamics for active reduction of periodic motions and forces in machines.”en
dc.format2 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.isbn978-80-261-1352-2
dc.identifier.urihttp://hdl.handle.net/11025/67880
dc.language.isoenen
dc.publisherUniversity of West Bohemia in Pilsenen
dc.rights© University of West Bohemia in Pilsenen
dc.rights.accessopenAccessen
dc.subject78 aktivní tlumič vibracícs
dc.subjectrobot 6Rcs
dc.subjectplatforma Stewartcs
dc.subjectpočítané řízení točivého momentucs
dc.subject.translatedactive vibration absorberen
dc.subject.translated6R roboten
dc.subject.translatedstewart platformen
dc.subject.translatedcomputed torque controlen
dc.titlePossibilities of improving trajectory tracking accuracy of spatial 6r robot with nonlinear active 6-DOF absorberen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.type.versionpublishedVersionen
local.files.count2*
local.files.size2776005*
local.has.filesyes*

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Proceedings of the 27th International Conference Applied Mechanics 2026
Proceedings of the 27th International Conference Applied Mechanics 2026