In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors called point-to-point motion planning (PPMP). Overall motion planning (OMP) consists of determining actuation schemes that optimize the manipulator’s performance while considering the entire given trajectory of the end-effector at once. The results of OMP are compared with those of PPMP of a kinematically redundant manipulator. It is shown that the proposed OMP strategy can generate actuation schemes for given trajectories such that the manipulator avoids singular configurations better than the PPMP strategy.
Overall Motion Planning for Kinematically Redundant Parallel Manipulators
- Views Icon Views
- Share Icon Share
- Search Site
Carretero, J. A., Ebrahimi, I., and Boudreau, R. (April 24, 2012). "Overall Motion Planning for Kinematically Redundant Parallel Manipulators." ASME. J. Mechanisms Robotics. May 2012; 4(2): 024502. https://doi.org/10.1115/1.4006523
Download citation file: