This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint on the end-effector. Our goal is to plan trajectories for systems that have workspaces ranging from two through five degrees-of-freedom. This is done by specifying a goal trajectory and finding the system trajectory that comes closest to it using a dual quaternion metric. We enumerate these parallel mechanisms and formulate a general numerical approach for their analysis and trajectory planning. Examples are provided to illustrate the results.
Trajectory Planning for Constrained Parallel Manipulators
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Aug. 2002; rev. April 2003. Associate Editor: M. Raghavan.
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Su, H., Dietmaier, P., and McCarthy, J. M. (January 22, 2004). "Trajectory Planning for Constrained Parallel Manipulators ." ASME. J. Mech. Des. December 2003; 125(4): 709–716. https://doi.org/10.1115/1.1623187
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