Planning optimal motions for a DELTA parallel robot

被引：0
|
作者：
Afroun, M. [1 ]
Chettibi, T. [1 ]
Hanchi, S. [1 ]
机构：
[1] EMP, BEB, BP 17, Algiers 16111, Algeria
来源：
PROCEEDINGS OF 2006 MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2 | 2006年
关键词：
DELTA Robot; motion planning; nonlinear optimization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article deals with the problem of planning optimal trajectories for a DELTA parallel robot. The planning process consists of searching for a motion ensuring the accomplishment of the assigned task, minimizing a cost function and satisfying various constraints inherent to the robot kinematics and dynamics. This problem is treated via (i) an adequate parameterization of the operational coordinates of the mobile platform and (ii) the use of the sequential quadratic programming method for solving the resulting nonlinear optimization problem. The proposed approach is applied to tasks involving either point-to-point motions or motions along specified paths.
引用
收藏
页码：179 / +
页数：2
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