Singularity-free path planning of parallel manipulators using clustering algorithm and line geometry

Dash, Anjan Kumar; Chen, I‐Ming; Yeo, Song Huat; Yang, Guilin

doi:10.1109/robot.2003.1241685

Cited by 33 publications

(29 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Complex arithmetic problems like those discussed in refs. [8,12,19] are not necessary any more, since neither the computation of constraints nor the calculation of direct kinematics has to be achieved. Of course, this property is also due to the definition of planning task in the operational workspace.…”

Section: Multiple Heuristics Approachmentioning

confidence: 99%

“…To the best knowledge of the authors, only two works have dealt previously with this problem for parallel manipulators. 12,19 Even if the proposed methods are different, both have a two-step strategy in common. The first step consists in providing a nominal path, which should be as much as possible free from singularities.…”

Section: Singularity Avoidance In Path Planningmentioning

confidence: 99%

“…In refs. [13,19], singularities are avoided in the second step by using Grassmann geometry. 16 The drawbacks of two-step strategies are eliminated by using the proposed multiple-heuristics approach.…”

Section: Singularity Avoidance In Path Planningmentioning

confidence: 99%

“…Second, Eqs. (15)(16)(17)(18)(19) do not have to be evaluated or known a priori for all workspace configurations. It is sufficient to evaluate the equations just for the graph nodes considered by the searching algorithm.…”

Section: -Heuristics: the Next Singularity Functionmentioning

confidence: 99%

See 3 more Smart Citations

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

Abdellatif¹,

Heimann²

2008

Robotica

View full text Add to dashboard Cite

SUMMARYThe issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

show abstract

Section: Multiple Heuristics Approachmentioning

confidence: 99%

Section: Singularity Avoidance In Path Planningmentioning

confidence: 99%

Section: Singularity Avoidance In Path Planningmentioning

confidence: 99%

Section: -Heuristics: the Next Singularity Functionmentioning

confidence: 99%

See 2 more Smart Citations

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

Abdellatif¹,

Heimann²

2008

Robotica

View full text Add to dashboard Cite

show abstract

“…Path planning involved singularity investigation to avoid instantaneous self-motion, (Nenchev and Uchiyama 1996). Singularities were extensively studied (Bhattacharya, Hatwal and Ghosh 1998), (Dasgupta and Mruthyunjaya 1998), (Dash et al 2003). The problem evolved into multi-objective optimization finding the optimum path according to a certain number of criterias (Carbone et al 1997), (Merlet 2001).…”

Section: Introductionmentioning

confidence: 99%

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

Rolland

2015

Motion and Operation Planning of Robotic Systems

View full text Add to dashboard Cite

Since the very successful application of parallel robots in material handling, many projects attempted to implement the Gough platforms as milling machine manipulators with limited success mainly achieving roughing.The displacement of the milling tool should meet surface finish requirements. Users also wish to increase tool feedrate in order to improve productivity thereby reaching high speed milling levels. Even a constant high speed feedrate brings important challenges since they mean higher actuator accelerations even on straight lines. This work introduces geometric formalization of surface finish which is more realistic then classic error calculations.This research work proposes an off-line simulation tool analysing the milling task feasibility using a robot constituted by a general hexapod parallel manipulator, namely the Gough Platform, often refered as the Stewart Platform. Moreover, in order to meet the machine-tool standards, the parallel robot will be controlled by a typical CNC controller implementing classic position based algorithms adapted to the parallel robots with any kind of actuator polynomial interpolation. Control sampling rates are studied and their impact evaluated.High and very high speed milling simulation results show the implementation of linear and third order interpolation between the actuator set-points calculated from the CAD/CAM computed end-effector or tool set-points points. The results show that linear interpolation are not sufficient for high speed milling and then third order interpolation reach the required surface finish at fast and feasible CNC sampling rates.

show abstract

Identification of the largest singularity-free cylinders in the translational workspace of the semi-regular Stewart platform manipulator

Prasad

Bandyopadhyay

2019

Advances in Mechanism and Machine Science

View full text Add to dashboard Cite

Singularity-free path planning of parallel manipulators using clustering algorithm and line geometry

Cited by 33 publications

References 13 publications

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

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

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

Identification of the largest singularity-free cylinders in the translational workspace of the semi-regular Stewart platform manipulator

Contact Info

Product

Resources

About