Adapted time-optimal trajectory planning for parallel manipulators with full dynamic modelling

This article provides a systematic insight into planning time-minimal trajectories for 6-dof parallel manipulators. Most of wide spread model simplifications, especially known from serial manipulators, are removed in order to give a general solution. All rigid-body forces, dry friction, viscous damping in passive and in actuated joints are considered. This yields a considerable escalation of the task's complexity. Therefore, an adapted algorithm is presented, that ensures the computational efficiency of trajectory planning, even in cases of high complex dynamics.