Optimal Motion Planning of a Planar Parallel Manipulator With Kinematically Redundant Degrees of Freedom

Abstract

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D’Alembert’s principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.

Kinematics and Dynamics Analysis of Exoskeleton Training Robot Based on the Human Biomechanical Model

“…As shown in figure 1, the mechanical structure of the exoskeleton training robot mainly includes the thigh connecting rod, the calf connecting rod, the leggings, the foot plate, etc. Redundant degree of freedom [11] was adopted structurally to enhance flexibility [12]. The I -beam half -enclosed design was applied, with the thighs and calves connected with leggings and each component made of 7075 aluminum alloy with close structure and high strength.…”