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Singularity-free trajectory planning of platform-type parallel manipulators for minimum actuating effort and reactions

Published online by Cambridge University Press:  01 May 2008

Chun-Ta Chen  and
Hua-Wei Chi
Chun-Ta Chen*
Affiliation:
Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa 515, Taiwan, ROC
Hua-Wei Chi
Affiliation:
Department of Mechanical and Automation Engineering, Da Yeh University, 112 Shan Jiau Road, Da Tsuen, Changhwa 515, Taiwan, ROC
*
*Corresponding author. E-mail: ctchen@mail.dyu.edu.tw
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Summary

Due to the existence of singular configurations within the workspace for a platform- type parallel manipulator (PPM), the actuating force demands increase drastically as the PPM approaches or crosses singular points. Therefore, in this report, a numerical technique is presented to plan a singularity-free trajectory of the PPM for minimum actuating effort and reactions. By using the parametric trajectory representation, the singularity-free trajectory planning problem can be cast to the determination of undetermined control points, after which a particle swarm optimization algorithm is employed to find the optimal control points. This algorithm ensures that the obtained trajectories can avoid singular points within the workspace and that the PPM has the minimum actuating effort and reactions. Simulations and discussions are presented to demonstrate the effectiveness of the algorithm.

Keywords

Platform-type parallel manipulatorSingularity-free trajectoryParticle swarm optimization algorithm
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 371 - 384
Copyright
Copyright © Cambridge University Press 2007

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