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An optimum path planning for Cassino Parallel Manipulator by using inverse dynamics

Published online by Cambridge University Press:  01 March 2008

G. Carbone ,
M. Ceccarelli ,
P. J. Oliveira ,
S. F. P. Saramago  and
J. C. M. Carvalho
G. Carbone
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Via Di Biasio 43 - 03043 Cassino, (Fr), Italy. E-mails: carbone@unicas.it, ceccarelli@unicas.it
M. Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Via Di Biasio 43 - 03043 Cassino, (Fr), Italy. E-mails: carbone@unicas.it, ceccarelli@unicas.it
P. J. Oliveira
Affiliation:
Federal University of Uberllândia Av. Joao Naves de Avila, 2160-38408100 Uberlandia (MG), Brazil. E-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br
S. F. P. Saramago
Affiliation:
Federal University of Uberllândia Av. Joao Naves de Avila, 2160-38408100 Uberlandia (MG), Brazil. E-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br
J. C. M. Carvalho
Affiliation:
Federal University of Uberllândia Av. Joao Naves de Avila, 2160-38408100 Uberlandia (MG), Brazil. E-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br
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Summary

In this paper, a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multi-objective optimisation problem has been formulated for an efficient numerical solution procedure through kinematic and dynamic features of manipulator operation. Computational economy has been obtained by properly using a genetic algorithm to search an optimal solution for path spline-functions. Numerical characteristics of the numerical solving procedure have been outlined through a numerical example applied to Cassino Parallel Manipulator (CaPaMan) both for path planning and design purposes.

Keywords

RoboticsPath PlanningParallel ManipulatorsSimulation
Type
Article
Information
Robotica , Volume 26 , Issue 2 , March 2008 , pp. 229 - 239
Copyright
Copyright © Cambridge University Press 2007

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