A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

verfasst von

Houssem Abdellatif, Bodo Heimann

Abstract

The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Artikel

Journal

ROBOTICA

Band

26

Seiten

679-689

Anzahl der Seiten

11

ISSN

0263-5747

Publikationsdatum

09.2008

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Mathematik (insg.), Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1017/S0263574708004311 (Zugang: Unbekannt)