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

被引：15
|
作者：
Carbone, G. [1 ]
Ceccarelli, M. [1 ]
Oliveira, P. J. [2 ]
Saramago, S. E. P. [2 ]
Carvalho, J. C. M. [2 ]
机构：
[1] Univ Cassino, Lab Robot & Mechatron, DiMSAT, I-03043 Cassino, Fr, Italy
[2] Univ Fed Uberlandia, BR-38400 Uberlandia, MG, Brazil
来源：
ROBOTICA | 2008年 / 26卷
关键词：
robotics; path planning; parallel manipulators; simulation;
D O I：
10.1017/S0263574707003839
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：229 / 239
页数：11
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