Implementation of BFA (Backtrack-Free path planning Algorithm) for three-dimensional workspaces and its application to path planning of multi manipulators

2011 ◽  
Vol 94 (12) ◽  
pp. 1-11 ◽  
Author(s):  
Tomonari Murata ◽  
Shinsuke Tamura ◽  
Masayuki Kawai
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Three Dimensional ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Kinematics of a Novel Single-Loop Under-Actuated Wrist

2012 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Path Planning ◽  
Closed Form ◽  
Nonholonomic Constraint ◽  
Three Dimensional ◽  
Single Loop ◽  
Closed Form Solutions ◽  
Position Analysis ◽  
Tracking Tasks ◽  
Planning Algorithm ◽  
Path Planning Algorithm

A novel type of parallel wrist (PW) is proposed which, differently from previously presented PWs, features a single-loop architecture and only one nonholonomic constraint. Due to the presence of a nonholonomic constraint, the proposed PW type is under-actuated, that is, it is able to control the platform orientation in a three-dimensional workspace by employing only two actuated pairs, one prismatic (P) and the other revolute (R); and it cannot perform tracking tasks. Position analysis and path planning of this novel PW are studied. In particular, all the relevant position analysis problems are solved in closed form, and, based on these closed-form solutions, a path-planning algorithm is built.

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