Skip to main content
×
Home
    • Aa
    • Aa

Singularity-free trajectory planning of platform-type parallel manipulators for minimum actuating effort and reactions

  • Chun-Ta Chen (a1) and Hua-Wei Chi (a1)
Summary
SUMMARY

Due to the existence of singular configurations within the workspace for a platform- type parallel manipulator (PPM), the actuating force demands increase drastically as the PPM approaches or crosses singular points. Therefore, in this report, a numerical technique is presented to plan a singularity-free trajectory of the PPM for minimum actuating effort and reactions. By using the parametric trajectory representation, the singularity-free trajectory planning problem can be cast to the determination of undetermined control points, after which a particle swarm optimization algorithm is employed to find the optimal control points. This algorithm ensures that the obtained trajectories can avoid singular points within the workspace and that the PPM has the minimum actuating effort and reactions. Simulations and discussions are presented to demonstrate the effectiveness of the algorithm.

Copyright
Corresponding author
*Corresponding author. E-mail: ctchen@mail.dyu.edu.tw
References
Hide All
1.Bhattacharya S., Hatwal H. and Ghosh A., “Comparison of an exact and an approximate method of singularity avoidance in a platform type parallel manipulator,” Mech. Mach. Theory 33, 965974 (1998).
2.Dasgupta B. and Mruthyunjaya T. S., “Singularity-free planning for the Stewart platform manipulator,” Mech. Mach. Theory 33, 771–725 (1998).
3.Sen S., Dasgupta B. and Bhattacharya S., “Variational approach for singularity- free path-planning of parallel manipulators,” Mech. Mach. Theory 38, 11651183 (2003).
4.Dash A. K., Chen I., Yeo S. and Yang G., “Workspace generation and planning singularity-free path for parallel manipulators,” Mech. Mach. Theory 40, 776805 (2005).
5.Do W. Q. D. and Yang D. C. H., “Inverse dynamic analysis and simulation of a platform type of robot,” J. Robot. Syst. 5, 209227 (1998).
6.Dasgupta B. and Mruthyunjaya T. S., “A Newton–Euler formulation for the inverse dynamics of the Stewart platform manipulator,” Mech. Mach. Theory 33, 11351152 (1998).
7.Tsai L. W., “Solving the inverse dynamics of parallel manipulators by the principle of virtual work,” DETC98/MECH-5865, Proceedings of the ASME Design Engineering Technical Conferences, Atlanta, GA, (1998) pp. 451–457.
8.Chen C. T., “A Lagrangian formulation in terms of quasi-coordinates for the inverse dynamics of the general 6-6 Stewart platform manipulator,” JSME Int. J. Ser. C 46, 10841090 (2003).
9.Shiller Z. and Dubowsky S., “Robot path planning with obstacles, actuator, gripper, and payload constraints,” Int. J. Robot. Res. 8, 318(1989).
10.Kennedy J. and Eberhart R., “Particle swarm optimization,” Proceedings of IEEE International Conference on Neural Network, Australia, 1942–1948 (1995).
11.Goldberg D. E., Genetic Algorithms in Search, Optimization, and Machine Learning (Addison–Wesley, New York, 1989).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords:

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 8 *
Loading metrics...

Abstract views

Total abstract views: 103 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 20th October 2017. This data will be updated every 24 hours.