In this paper we consider the problem of trajectory verification for a classical Gough-Stewart platform i.e. we want to verify if a given trajectory obeys various criteria which define its validity, for example that the trajectory lies fully inside the workspace of the robot and is singularity-free. We propose an almost real-time method that may deal with almost any trajectory and any validity criterion and can manage uncertainties on the specified trajectory, for example to take into account control errors.
A Generic Trajectory Verifier for the Motion Planning of Parallel Robots
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 2000. Associate Editor: G. S. Chirikjian.
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Merlet, J. (January 1, 2000). "A Generic Trajectory Verifier for the Motion Planning of Parallel Robots ." ASME. J. Mech. Des. December 2001; 123(4): 510–515. https://doi.org/10.1115/1.1401735
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