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Trajectory planning of a parallel manipulator based on kinematic transmission property

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Abstract

In order to obtain smooth trajectory and real-time performance of micro-manipulation for micro-motion parallel manipulator, this paper presents a new smooth trajectory planning based on the kinematic transmission property. Under the requirement of high tracking precision, seven-degree B-spline is adopted to interpolate poses of the micro-motion parallel manipulator in Cartesian space, which will make the velocities, accelerations and jerks bounded and continuous. Moreover, the start-end velocities, the start-end accelerations and the start-end jerks are configurable based on the seven-degree B-spline. In order to ensure that the planned trajectory is the optimal, an objective function containing accumulated jerk based on the kinematic transmission property is considered. Then, sequential quadratic programming method is adopted to obtain the optimal smooth trajectory based on the good kinematic transmission property, which can meet the kinematic constraints. Simulations and experiments show that the planning trajectories based on the proposed method have the advantages of continuous and small accumulated jerk. Furthermore, the proposed method can decrease tracking errors of the trajectories more effectively than the cubic spline.

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Acknowledgments

This work is supported in part by National Natural Science Foundation of China under Grant no. 51375368 and National Science and Technology Support Program No. 2014BAF02B01.

Conflict of interest

The authors declare that there is no conflict of interests regarding the publication of this article.

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Authors and Affiliations

  1. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an, 710049, Shaanxi Province, China

    Sun’an Wang, Shenli Wu, Chenlong Kang & Xiaohu Li

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  1. Sun’an Wang
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  2. Shenli Wu
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  3. Chenlong Kang
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  4. Xiaohu Li
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Correspondence to Sun’an Wang.

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Wang, S., Wu, S., Kang, C. et al. Trajectory planning of a parallel manipulator based on kinematic transmission property. Intel Serv Robotics 8, 129–139 (2015). https://doi.org/10.1007/s11370-015-0176-z

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