Dynamics Based Trajectory Planning for Parallel Manipulators
Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory planning methods, the time-optimal, the jerk-bounded, and the cubic polynomial planning, are investigated and implemented. The Orthopod, a 3-DoF purely translational parallel manipulator, is used as the experimental plant. This study provides a quantitative comparison of the three planning methods. The experimental results provide a guideline to choose an appropriate planning method for practical industrial applications.
parallel manipulators trajectory planning time-optimal dynamics-based
Yunjiang Lou Fang Feng Zhibin Li
Division of Control and Mechatronics Engineering,Shenzhen Graduate School,Harbin Institute of Techno Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
295-300
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）