Overall Motion Planning for Kinematically Redundant Parallel Manipulators

2012 ◽  
Vol 4 (2) ◽  
Author(s):  
Juan A. Carretero ◽  
Iman Ebrahimi ◽  
Roger Boudreau
Keyword(s):  
Motion Planning ◽  
Parallel Manipulators ◽  
Redundant Manipulator ◽  
End Effector ◽  
New Approach ◽  
Singular Configurations ◽  
Point Motion ◽  
Point To Point ◽  
Better Than

In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors called point-to-point motion planning (PPMP). Overall motion planning (OMP) consists of determining actuation schemes that optimize the manipulator’s performance while considering the entire given trajectory of the end-effector at once. The results of OMP are compared with those of PPMP of a kinematically redundant manipulator. It is shown that the proposed OMP strategy can generate actuation schemes for given trajectories such that the manipulator avoids singular configurations better than the PPMP strategy.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

A new family of spherical parallel manipulators

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 353-358 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
End Effector ◽  
Singular Configurations ◽  
New Family ◽  
Geometric Conditions ◽  
Singularity Locus ◽  
The Given ◽  
Spherical Parallel Manipulator ◽  
Spherical Motion

In the literature, 3-RRPRR architectures were proposed to obtain pure translation manipulators. Moreover, the geometric conditions, which 3-RRPRR architectures must match, in order to make the end-effector (platform) perform infinitesimal (elementary) spherical motion were enunciated. The ability to perform elementary spherical motion is a necessary but not sufficient condition to conclude that the platform is bound to accomplish finite spherical motion, i.e. that the mechanism is a spherical parallel manipulator (parallel wrist). This paper demonstrates that the 3-RRPRR architectures matching the geometric conditions for elementary spherical motion make the platform accomplish finite spherical motion, i.e. they are parallel wrists (3-RRPRR wrist), provided that some singular configurations, named translation singularities, are not reached. Moreover, it shows that 3-RRPRR wrists belong to a family of parallel wrists which share the same analytic expression of the constraints which the legs impose on the platform. Finally, the condition that identifies all the translation singularities of the mechanisms of this family is found and geometrically interpreted. The result of this analysis is that the translation singularity locus can be represented by a surface (singularity surface) in the configuration space of the mechanism. Singularity surfaces drawn by exploiting the given condition are useful tools in designing these wrists.

Inverse position analysis, workspace determination and position synthesis of parallel manipulators with 3-RSR topology

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 627-632 ◽  
Author(s):  
Raffaele Di Gregorio
Keyword(s):  
Parallel Manipulators ◽  
End Effector ◽  
New Approach ◽  
Position Analysis ◽  
Starting Point ◽  
Inverse Position Analysis ◽  
The Common ◽  
Three Degree Of Freedom ◽  
Position Synthesis

Manipulators with 3-RSR topology are three-degree-of-freedom parallel manipulators that may be either spherical or mixed-motion manipulators. The inverse position analysis (IPA) and the workspace determination of 3-RSR manipulators are addressed by means of a new approach. The new approach is centered on a particular form of the closure equations called compatibility equations. The compatibility equations contain only the six coordinates (end-effector coordinates) which locates the end-effector pose (position and orientation) with respect to the frame, and the geometric constants of the manipulator. When the manipulator geometry is assigned, the common solutions of the compatibility equations are the end-effector coordinates which identify the end-effector poses belonging to the manipulator workspace. Moreover, they can be the starting point to easily solve the IPA. The presented compatibility equations can be also used to solve the position synthesis of the 3-RSR manipulator. This way of solving the position synthesis will demonstrate that only approximated solutions exist when more than eight end-effector poses are given.

An optimal singularity-free motion planning method for a 6-DOF parallel manipulator

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shiqi Li ◽  
Dong Chen ◽  
Junfeng Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Motion Planning ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Free Motion ◽  
Motion Path ◽  
Swarm Optimization ◽  
End Effector ◽  
Content Type ◽  
Multi Objective

Purpose This paper aims to present a method of optimal singularity-free motion planning under multiple objectives and multiple constrains for the 6-DOF parallel manipulator, which is used as an execution mechanism for the automated docking of components. Design/methodology/approach First, the distribution characteristics of the Jacobian matrix determinant in local workspace are studied based on the kinematics and a sufficient and necessary condition of singularity-free path planning in local workspace is proposed. Then, a singularity-free motion path of the end-effector is generated by a fifth-order B-spline curve and the corresponding trajectories of each actuator are obtained via the inverse kinematics. Finally, several objective functions are defined to evaluate the motion path and an improved multi-objective particle swarm optimization algorithm-based on the Pareto archive evolution is developed to obtain the optimal singularity-free motion trajectories. Findings If the initial pose and the target pose of the end-effector are both singularity-free, a singularity-free motion path can be planned in the local workspace as long as all the values of each pose elements in their own directions are monotonous. The improved multi-objective particle swarm optimization (IMPSO) algorithm is effective and efficient in the optimization of multi-objective motion planning model. The optimal singularity-free motion path of the end-effector is verified in the component docking test. The docking result is that the movable component is in alignment with the fixed one, which proves the feasibility and practicability of the proposed motion path method to some extent. Originality/value The proposed method has a certain novelty value in kinematic multi-objective motion planning of parallel manipulators; it also increases the application prospect of parallel manipulators and provides attractive solutions to component assembly for those organizations with limited cost and that want to find an option that is effective to be implemented.

JOINT SPACE POINT-TO-POINT MOTION PLANNING FOR ROBOTS. AN INDUSTRIAL IMPLEMENTATION

2005 ◽  
Vol 38 (1) ◽  
pp. 187-192
Author(s):  
Gianluca Antonelli ◽  
Stefano Chiaverini ◽  
Marco Palladino ◽  
Gian Paolo Gerio ◽  
Gerardo Renga
Keyword(s):  
Motion Planning ◽  
Joint Space ◽  
Industrial Implementation ◽  
Point Motion ◽  
Space Point ◽  
Point To Point

Development of PC-Based Simulation and Control Platform for a 6-DOF Robotic Arm

2014 ◽  
Vol 543-547 ◽  
pp. 1397-1400 ◽  
Author(s):  
Wen Zhe Wang ◽  
Shi Yue Liu ◽  
Qing Bo Geng ◽  
Qing Fei
Keyword(s):  
Motion Planning ◽  
Robot Control ◽  
Servo Control ◽  
Robotic Arm ◽  
Kinematic Scheme ◽  
Control Card ◽  
Point Motion ◽  
Real Robot ◽  
Point To Point ◽  
And Control

This paper developed a 6-DOF (degree of freedom) PC-Based robotic arm system. The system mainly include in software platform and servo control card, servo control card based on microcontroller STC12C5A60S2 was designed to drive the servomotor connected with each joint of robot. The software was implemented by combining MFC with OpenGL. By using the OpenGL functions, the software is able to draw and simulate the 3D kinematic scheme of the robot, it also provides 3D motion planning simulation feature. With the help of simulation in the GUI, users can visualize the manipulator motion planning. Furthermore, user also can control the real robotic arm through this software. Finally, point-to-point motion and continuous path motion are all tested in simulation and real robot control. The entire system has been successfully implemented.

Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach

2008 ◽  
Author(s):  
Chin Pei Tang ◽  
Patrick T. Miller ◽  
Venkat N. Krovi ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Motion Planning ◽  
Kinematic Model ◽  
Pole Placement ◽  
Mobile Manipulator ◽  
Differential Flatness ◽  
Placement Problem ◽  
Planning And Control ◽  
Polynomial Curve ◽  
Point Motion ◽  
Point To Point

This paper presents an integrated motion planning and control framework for a nonholonomic wheeled mobile manipulator (WMM) system taking advantage of the (differential) flatness property. We first develop the kinematic model of the system and analyze its flatness properties. Subsequently, a statically feedback linearizable system description is developed by appropriately choosing the flat outputs. Motion-planning can now be achieved by polynomial curve fitting to satisfying the terminal conditions in the flat output space while control design reduces to a pole-placement problem for a linear system. A case study of point-to-point motion is considered to study the effectiveness of pose stabilization in the WMM. The simulation and experimental results highlight the ease-of-implementation of proposed method for online real-time integrated motion-planning/control within a hardware-in-the-loop (HIL) electro-mechanical testing.

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