Publication
Motion planning for parallel robots with non-holonomic joints
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
13th
Pages
115-122
Doc link
http://dx.doi.org/10.1007/978-94-007-4620-6_15
File
Authors
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Tchon, Krzysztof
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Jakubiak, Janusz
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Grosch Obregon, Patrick John
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Thomas, Federico
Abstract
Designing a robot manipulator with fewer actuators than the dimension of its configuration space – to reduce bulk, weight and cost – becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. Unfortunately, the mechanical advantages of these non-holonomic designs are usually darkened by the complexity of their control. This paper deals with motion planning for parallel robots with non-holonomic joints shedding new light on their control strategies. As a case study, the motion planning problem is solved for a 3-ŬPU parallel robot, where Ŭ stands for a non-holonomic joint whose instantaneous kinematics are equivalent to that of a universal joint. It is thus shown how the three prismatic actuators can maneuver to reach any six-degree-of-freedom pose of the moving platform. The motion planning has been addressed as a control problem in the control system representation of the robot’s kinematics and a motion planning algorithm has been devised based on a Jacobian inversion of the end-point map of the representation. Performance of the algorithm is illustrated with numeric computations.
Categories
automation.
Author keywords
parallel non-holonomic manipulator, Jacobian motion planning
Scientific reference
K. Tchon, J. Jakubiak, P. Grosch and F. Thomas. Motion planning for parallel robots with non-holonomic joints, 13th International Symposium on Advances in Robot Kinematics, 2012, Innsbruck, in Latest Advances in Robot Kinematics, pp. 115-122, 2012, Springer.
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