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

被引：0
|
作者：
Abdellatif, H [1 ]
Heimann, B [1 ]
机构：
[1] Leibniz Univ Hannover, Hannover Ctr Mechatron, D-30419 Hannover, Germany
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
parallel robots; trajectory planning; time-optimal planning; dynamic modelling; friction;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
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页码：411 / 416
页数：6
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