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3. Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks

Author

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, damien chablat, Instituto Tecnológico de la Laguna (ITLAG), Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and CONACYT

Subjects
Computer Science::Robotics, Optimization of performance, parallel manipulators, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], cooperative manipulators, trajectory planning, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted manipulator allows globally optimize the condition number of the jacobian matrix during the accomplishment of a desired task. Consequently, the accuracy of the manipulator is maximized and singular or degenerate poses are avoided. A case of study is presented to show the effectiveness of our approach.

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