An Innovative Motion Planning for 4-DOF PKM

Abstract

This paper presents an innovative motion planning algorithm for pick and place operations in the industry. The new technique is to seek optimal dynamics pattern for PKM(parallel kinematic manipulator), this is achieved by two parts: First, to achieve optimal path planning, a center sphere method based on virtual obstacle path planning method is proposed to solve such path planning with Particle Swarm Optimization (PSO); Second, to enhance the efficiency of the robot, time optimal trajectory planning is finished with respect to robotic physical constraints. Then, the method applied to a 4-DOF PKM is tested by numerical simulations, some examples are presented making comparisons on same tasks assigned by different sphere radius, the simulation results show the efficiency and the effectiveness of the proposed approach to determine the optimal motion pattern for 4-DOF PKM in obstacle-free workspace.