OPTIMAL MOTION PLANNING OF A PLANAR PARALLEL MANIPULATOR WITH KINEMATICALLY REDUNDANT DEGREES OF FREEDOM

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D'Alembert's principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.