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Optimal Motion Planning for Fast Pointing Tasks With Spherical Parallel Manipulators
Optimal Motion Planning for Fast Pointing Tasks With Spherical Parallel Manipulators
- Source :
- IEEE Robotics and Automation Letters. 3:735-741
- Publication Year :
- 2018
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2018.
-
Abstract
- Spherical parallel manipulators can be effectively used for the execution of pointing tasks provided that their functional redundancy is well exploited. The present letter shows how the dynamic behavior of parallel wrists can be enhanced by optimizing their posture through suitable performance indexes; the indexes used in this letter are based on the manipulator inertia matrix reduced to the mobile platform, which can be readily worked out from the total kinetic energy of the wrist. First, the redundancy is solved by finding, for each pointing direction, the posture leading to the best dynamic manipulation capacity. Then, a path is planned on the surface of a sphere by means of Bezier curves; in this case, the performance function of the optimization problem drives the platform through the spherical attitudes that grant the maximum angular accelerations along a useful direction. The theoretical results are verified in simulation for the three-CPU manipulator by means of inverse dynamic analyses performed in a multibody software environment; however, the developed methodology is of general use and this letter is aimed at showing how it can be applied to a whole class of spherical parallel robots.
- Subjects :
- 0209 industrial biotechnology
Control and Optimization
Optimization problem
Computer science
Biomedical Engineering
02 engineering and technology
dynamics
motion planning optimization
Parallel robots
pointing task
spherical parallel machines
Kinetic energy
Computer Science::Robotics
Sylvester's law of inertia
020901 industrial engineering & automation
0203 mechanical engineering
Artificial Intelligence
Control theory
Motion planning
Manipulator
ComputingMethodologies_COMPUTERGRAPHICS
Mechanical Engineering
Parallel manipulator
Computer Science Applications
Human-Computer Interaction
020303 mechanical engineering & transports
Control and Systems Engineering
Computer Vision and Pattern Recognition
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 3
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....eb5cae51475770a9e9510cf1cda73195
- Full Text :
- https://doi.org/10.1109/lra.2018.2789845