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

verfasst von

H. Abdellatif, Bodo Heimann

Abstract

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

411-416

Anzahl der Seiten

6

Publikationsdatum

2005

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Artificial intelligence, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/ROBOT.2005.1570153 (Zugang: Unbekannt)