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[citace_text] => BŘEZINA, T.; BŘEZINA, L. Controller design of the Stewart platform linear actuator. In Recent Advances in Mechatronics 2008-2009. Berlin: Springer-Verlag Berlin Heidelberg, 2009. p. 341-346. ISBN: 978-3-642-05021-3.
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[nazev_en] => Path planning for nonholonomic robots
[popis_en] => In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. This problem involves finding a collision-free path from a start to a goal position, satisfying kinematic constraints and minimizing an evaluation function. The proposed approach consists of finding a path for a holonomic robot by means of a genetic algorithm and subsequent adapting this path to nonholonomic constraints by using a modified A* algorithm. We compare this approach with other methods for path planning of nonholonomic robots.
[klicova_slova_en] => mobile robot; nonholonomic constraints; path planning; genetic algorithms; graph search algorithms; rapidly-exploring random trees
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[nazev] => Stewart Platform Model with Uncertain Parameters
[nazev_orig] => Stewart Platform Model with Uncertain Parameters
[duvernost_udaju_id] => S
[popis] => The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.
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[citace_text] => BŘEZINA, L.; BŘEZINA, T. Stewart Platform Model with Uncertain Parameters. In The 5th International Conference Mechatronic Systems and Materials MSM-2009. Vilnius: Vilnius Gediminas Technical University, 2009. p. 9-10. ISBN: 978-9955-28-493-2.
[citace_html] => BŘEZINA, L.; BŘEZINA, T. Stewart Platform Model with Uncertain Parameters. In The 5th International Conference Mechatronic Systems and Materials MSM-2009. Vilnius: Vilnius Gediminas Technical University, 2009. p. 9-10. ISBN: 978-9955-28-493-2.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT33623,
author="Lukáš {Březina} and Tomáš {Březina}",
title="Stewart Platform Model with Uncertain Parameters",
booktitle="The 5th International Conference Mechatronic Systems and Materials MSM-2009",
year="2009",
pages="9--10",
publisher="Vilnius Gediminas Technical University",
address="Vilnius",
isbn="978-9955-28-493-2"
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[popis_en] => The paper deals with creating of an uncertain dynamics model of a six DOF parallel mechanism (Stewart platform) suitable for an H-infinity controller design. The model is based on linear state space models of the machine obtained by linearization of the SimMechanics model. The linearization is performed for two positions of the machine in its workspace. It is the nominal position and the position where each link of the machine reaches its maximal length. The uncertainties are then represented as differences between parameters of corresponding state-space matrices. The uncertain state space model is then obtained using upper linear fractional transformation. There are also mentioned several notes to an H-infinity controller designed according to the obtained model.
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[duvernost_udaju_id] => S
[popis] => This contribution deals with a position control analysis of the biomechanical testing device based on the Stewart Platform. The constructed mechanism represents a six-degree of freedom positioning manipulator. Its closed kinematic chain and parallel linkage structure give it great rigidity and large load-to-weight ratio. That makes it suitable for testing of the backbone segments and hip joints. The mechanism constructed on FME BUT contains two plates (base and platform) which are connected with six linear mechanical actuators to the each other. The device control task is based on inverse position kinematics. A model of the mechanism inverse kinematics was built for the control purposes in MATLAB software. Finally the controller algorithm was designed and implemented into LabVIEW environment which is suitable for a real-time control.
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[citace_html] => BŘEZINA, T.; ANDRŠ, O.; HOUŠKA, P.; BŘEZINA, L. Some notes to the design and implementation of the device for cord implants tuning. In Recent advances in Mechatronics 2008 - 2009. Berlin: Springer-Verlag Berlin Heidelberg, 2009. p. 335-340. ISBN: 978-3-642-05021-3.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT33657,
author="Tomáš {Březina} and Ondřej {Andrš} and Pavel {Houška} and Lukáš {Březina}",
title="Some notes to the design and implementation of the device for cord implants tuning",
booktitle="Recent advances in Mechatronics 2008 - 2009",
year="2009",
number="1",
pages="335--340",
publisher="Springer-Verlag Berlin Heidelberg",
address="Berlin",
isbn="978-3-642-05021-3"
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[nazev_orig] => Elimination of self excited oscillations via changes in the thickness of chips.
[duvernost_udaju_id] => S
[popis] => This paper deals with the possibility of elimination of self-excited oscillations by changing the
thickness of chips. These oscillations occur between the tool and machining area during the
cutting process without any outer influence. This results into degradation of the machined
surface, the geometric accuracy and the noise.
A model of cutting process (Eq 1,2) is constructed using the theory of regenerative principle.
The model is used to derive analytical formulas for gains of two simple controllers (Fig 2)
which control a piezoelectric compensator of the cutting force. The compensator changes the
position of cutting tool against the machined surface. This changes the thickness of chips.
[popis_orig] => This paper deals with the possibility of elimination of self-excited oscillations by changing the
thickness of chips. These oscillations occur between the tool and machining area during the
cutting process without any outer influence. This results into degradation of the machined
surface, the geometric accuracy and the noise.
A model of cutting process (Eq 1,2) is constructed using the theory of regenerative principle.
The model is used to derive analytical formulas for gains of two simple controllers (Fig 2)
which control a piezoelectric compensator of the cutting force. The compensator changes the
position of cutting tool against the machined surface. This changes the thickness of chips.
[klicova_slova] => self-excited oscillations, regenerative principle, vibration compensation
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[identifikator] => ISBN 978-9955-28-493-2
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[citace_text] => BŘEZINA, T.; VETIŠKA, J. Elimination of self excited oscillations via changes in the thickness of chips. In The 5th International Conference Mechatronic Systems and Materials MSM- 2009. 1. Vilnius: Vilnius Gediminas Technical University, 2009. p. 124-126. ISBN: 978-9955-28-493-2.
[citace_html] => BŘEZINA, T.; VETIŠKA, J. Elimination of self excited oscillations via changes in the thickness of chips. In The 5th International Conference Mechatronic Systems and Materials MSM- 2009. 1. Vilnius: Vilnius Gediminas Technical University, 2009. p. 124-126. ISBN: 978-9955-28-493-2.
[citace_rtf] =>
[citace_bibtex] => @inproceedings{BUT33818,
author="Tomáš {Březina} and Jan {Vetiška}",
title="Elimination of self excited oscillations via changes in the thickness of chips.",
booktitle="The 5th International Conference Mechatronic Systems and Materials MSM- 2009",
year="2009",
series="1",
number="1",
pages="124--126",
publisher="Vilnius Gediminas Technical University",
address="Vilnius",
isbn="978-9955-28-493-2"
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[nazev_en] => Elimination of self excited oscillations via changes in the thickness of chips.
[popis_en] => This paper deals with the possibility of elimination of self-excited oscillations by changing the
thickness of chips. These oscillations occur between the tool and machining area during the
cutting process without any outer influence. This results into degradation of the machined
surface, the geometric accuracy and the noise.
A model of cutting process (Eq 1,2) is constructed using the theory of regenerative principle.
The model is used to derive analytical formulas for gains of two simple controllers (Fig 2)
which control a piezoelectric compensator of the cutting force. The compensator changes the
position of cutting tool against the machined surface. This changes the thickness of chips.
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