A Generic Trajectory Verifier for the Motion Planning of Parallel Robots-Reference-Cited by-同舟云学术

A Generic Trajectory Verifier for the Motion Planning of Parallel Robots

Published:2000-01-01 Issue:4 Volume:123 Page:510-515
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Merlet Jean-Pierre¹

Affiliation:

1. INRIA Sophia-Antipolis BP 93 06902 Sophia-Antipolis, France

Abstract

In this paper we consider the problem of trajectory verification for a classical Gough-Stewart platform i.e. we want to verify if a given trajectory obeys various criteria which define its validity, for example that the trajectory lies fully inside the workspace of the robot and is singularity-free. We propose an almost real-time method that may deal with almost any trajectory and any validity criterion and can manage uncertainties on the specified trajectory, for example to take into account control errors.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/123/4/510/5758766/510_1.pdf

Reference19 articles.

1. Dasgupta, B., and Mruthyunjaya, T. S., 1998, “Singularity-free Path Planning for the Stewart Platform Manipulator,” Mech. Mach. Theory, 33, No. 6, pp. 711–725.

2. Nenchev, D. N., and Uchiyama, M., 1996, “Singularity-consistent Path Planning and Control of Parallel Robot Motion Through Instantaneous-self-motion Type,” In IEEE Int. Conf. on Robotics and Automation, pp. 1864–1870.

3. Nguyen, C. C. et al., 1992, “Trajectory Planning and Control of a Stewart Platform-based End-effector With Passive Compliance for Part Assembly,” J. Intell. & Robotic Syst., 6, No. 2-3, pp. 263–281.

4. Merlet, J.-P. , 1994, “Trajectory Verification in the Workspace for Parallel Manipulators,” Int. J. Robot. Res., 13, No. 4, pp. 326–333.

5. Boudreau, R., and Gosselin, C. M., 1999, “La synthe`se d’une plate-forme de Gough-Stewart pour un espace atteignable prescrit,” In 10th World Congress on the Theory of Machines and Mechanisms, pp. 449–454, Oulu.

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