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

Abdellatif, Houssem; Heimann, Bodo

doi:10.1017/s0263574708004311

Cited by 5 publications

(9 citation statements)

References 23 publications

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“…This is a type-3 singularity for which the two legs are both parallel to the -axis. This is characterized by a geometric parameter condition given by (5) These parameters are designed, such that (5) never holds.…”

Section: Second Casementioning

confidence: 99%

“…One way to do so is by adding these efforts as disturbance inputs to the dynamic equations. The joint space inverse dynamic model including contact forces is given as [2]- [5], [7] ( 6) where is the torques vector produced by joint actuators, are joint positions, rates, and accelerations, is the inertia matrix, and are the Coriolis and centrifugal, and gravitational forces, respectively, is the PKM Jacobian and is the contact force. The model in (6) is represented as follows:…”

Section: B Dynamic Modelmentioning

confidence: 99%

“…S INCE the pioneering work of Gough [1] on manipulators with closed-loop structures, extensive research efforts have led to the realization of several robots and machine tools with parallel kinematic structures, with a significant diversity in design, specification, and personalization [2]- [5]. Parallel kinematic machines (PKMs) have two basic advantages over conventional machines of serial kinematic structures.…”

Section: Introductionmentioning

confidence: 99%

“…Another major issue for practical use of PKMs in industry is that for a prescribed tool path in the workspace, the control system should guarantee the prescribed task completion within the workspace, for a given set up of the EE (i.e., for which limitations on actuator lengths and physical dimensions are not violated). In [5] a particle swarm optimization technique was used to plan a singularity-free minimum-effort trajectory of a PKM. In [6], methodologies involving workspace and actuator force limitations were proposed, using iterative optimization techniques.…”

Section: Introductionmentioning

confidence: 99%

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Data-Driven Multi-Stage Motion Planning of Parallel Kinematic Machines

Khoukhi

2010

IEEE Trans. Contr. Syst. Technol.

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A multistage data-driven neuro-fuzzy system is considered for the multiobjective trajectory planning of Parallel Kinematic Machines (PKMs). This system is developed in two major steps. First, an offline planning based on robot kinematic and dynamic models, including actuators, is performed to generate a large dataset of trajectories, covering most of the robot workspace and minimizing time and energy, while avoiding singularities and limits on joint angles, rates, accelerations, and torques. An augmented Lagrangian technique is implemented on a decoupled form of the PKM dynamics in order to solve the resulting nonlinear constrained optimal control problem. Then, the outcomes of the offline-planning are used to build a data-driven neuro-fuzzy inference system to learn and capture the desired dynamic behavior of the PKM. Once this system is optimized, it is used to achieve near-optimal online planning with a reasonable time complexity. Simulations proving the effectiveness of this approach on a 2-degrees-of-freedom planar PKM are given and discussed.

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Section: Second Casementioning

confidence: 99%

Section: B Dynamic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Data-Driven Multi-Stage Motion Planning of Parallel Kinematic Machines

Khoukhi

2010

IEEE Trans. Contr. Syst. Technol.

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“…All local path planning performed in this paper utilises the A* search, which is a graph-based search algorithm with heuristics for robot motion planning for discrete data sets [24,16]. As the global path planning returns an ordered list of workspaces to traverse (global path), the local path planning handles all planning to and from workspace boundaries and links them together to form an overall path from start to end configurations.…”

Section: Local Path Planning and Costingmentioning

confidence: 99%

Generation of the global workspace roadmap of the 3-R R using rotary disk search

Chung

Chen

2014

Mechanism and Machine Theory

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Path planning for parallel manipulators in the configuration space can be a challenging task due to the existence of multiple direct kinematic solutions. Hence the aim of this paper is to define a generalised hierarchical path planning scheme for trajectory generation between two configurations in the configuration space for manipulators that exhibit more than one solution in their direct kinematics. This process is applied to the 3-RPR mechanism, constrained to a 2-DOF system by setting active joint parameter ρ 1 to a constant. The overall reachable workspace is discretised and deconstructed into smaller patches, which are then stitched together creating a global workspace roadmap. Using the roadmap, path feasibility is obtained and local path planning is used to generate a complete trajectory. This method can determine a singularity-free path between any two connectible points in the configuration space, including assembly mode changes.

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Trajectory planning of kinematically redundant parallel manipulators by using multiple working modes

Ramos

Pamanes

Wenger³

2016

Mechanism and Machine Theory

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A method for joint trajectory planning of kinematically redundant parallel manipulators is presented in this paper. The method is based on the use of feasibility maps that allow the graphical assessment of postures related to the different working modes of the manipulator. Thus, in such maps suitable trajectories are found in order to improve the performance of the manipulator and to avoid parallel singularities. When the desired path cannot be achieved by using only one working mode of the manipulator without crossing parallel singularities then, by applying the approach proposed here, a number of working modes could be chosen and combined to complete the whole path. The method can be applied to parallel manipulators with one degree of kinematic redundancy, whose legs allow the changing of working modes. The efficiency of this method is shown in a case study with a 3-RRR parallel manipulator (note that this manipulator becomes kinematically redundant if the orientation of the mobile platform is not specified for a desired task), in which postures associated to four working modes are employed in such a way that parallel singularities can be avoided. The obtained joint trajectories are applied to an experimental prototype to successfully execute the desired task.

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

Cited by 5 publications

References 23 publications

Data-Driven Multi-Stage Motion Planning of Parallel Kinematic Machines

Data-Driven Multi-Stage Motion Planning of Parallel Kinematic Machines

Generation of the global workspace roadmap of the 3-R R using rotary disk search

Trajectory planning of kinematically redundant parallel manipulators by using multiple working modes

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