Trajectory Planning of Parallel Manipulators for Global Performance Optimization

Alba-Gomez, Ofelia; Pamanes, J. Alfonso; Wenger, Philippe

doi:10.1007/978-1-4020-8600-7_27

Cited by 2 publications

(2 citation statements)

References 11 publications

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“…Due to the characteristics of the geometric invariance and convex hull, high-order Bezier curves are often used in industrial practice to connect multi-segment paths in Ref. [7]. Taking the connection of two straight-line trajectories as an example, the position of point A, point B and point C of line 1 and line 2 is generally known, and the end point B of line 1 is used as the start point of line 2, see Figure 10.…”

Section: Bezier Curve Functionsmentioning

confidence: 99%

Trajectory Planning

Lei¹,

羅²,

Li³

2023

Artificial Intelligence

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This chapter discusses the trajectory planning of robot. First, the basic principle of trajectory planning is described, which is mainly determined by the geometric path and the motion law, and it is a motion law that defines time according to a given geometric path. Second, the characteristics of the joint space and the operational space are expounded. Then the trapezoidal trajectory and the trajectory with S velocity profile commonly used in industrial practice are introduced. Finally, point-to-point trajectories and multipoint trajectories are described. Point-to-point trajectories include a point-to-point trajectory in the joint space and a straight-line and circle trajectory in the operational space. Multipoint trajectories include Bezier and NURBS curves functions.

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Section: Bezier Curve Functionsmentioning

confidence: 99%

Trajectory Planning

Lei¹,

羅²,

Li³

2023

Artificial Intelligence

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“…The problems of optimization of kinematic performance and obstacle avoidance have been investigated in the literature for trajectory planning of serial [17][18][19][20][21][22][23] and parallel [24][25][26][27][28][29][30][31][32] kinematically redundant manipulators. In [29] the authors proposed two consistent kinetostatic performance indices, which were applied to solve the kinematic redundancy when the desired task is carried out.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning of kinematically redundant parallel manipulators by using multiple working modes

Ramos

Pamanes

Wenger³

2016

Mechanism and Machine Theory

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A method for joint trajectory planning of kinematically redundant parallel manipulators is presented in this paper. The method is based on the use of feasibility maps that allow the graphical assessment of postures related to the different working modes of the manipulator. Thus, in such maps suitable trajectories are found in order to improve the performance of the manipulator and to avoid parallel singularities. When the desired path cannot be achieved by using only one working mode of the manipulator without crossing parallel singularities then, by applying the approach proposed here, a number of working modes could be chosen and combined to complete the whole path. The method can be applied to parallel manipulators with one degree of kinematic redundancy, whose legs allow the changing of working modes. The efficiency of this method is shown in a case study with a 3-RRR parallel manipulator (note that this manipulator becomes kinematically redundant if the orientation of the mobile platform is not specified for a desired task), in which postures associated to four working modes are employed in such a way that parallel singularities can be avoided. The obtained joint trajectories are applied to an experimental prototype to successfully execute the desired task.

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Trajectory Planning of Parallel Manipulators for Global Performance Optimization

Cited by 2 publications

References 11 publications

Trajectory Planning

Trajectory Planning

Trajectory planning of kinematically redundant parallel manipulators by using multiple working modes

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