Dynamics Based Trajectory Planning for Parallel Manipulators

被引：0
作者：
Lou, Yunjiang [1 ]
Feng, Fang [1 ]
Li, Zhibin [2 ]
机构：
[1] Harbin Inst Technol, Shenzhen Grad Sch, Div Control & Mechatron Engn, Shenzhen, Peoples R China
[2] Harbin Inst Technol, Shenzhen Grad Sch, Div Control & Mechatron Engn, Sch Mech & Elect Engn, Shenzhen, Peoples R China
来源：
ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3 | 2009年
基金：
美国国家科学基金会;
关键词：
parallel manipulators; trajectory planning; time-optimal; dynamics-based; SINGULARITY-FREE PATH;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：284 / +
页数：2
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