A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators

Chun-Ta Chen, Te Tan Liao

Research output: Contribution to journalArticle

28 Citations (Scopus)


In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure. In this study, the possible trajectories of the manipulator are modeled using a parametric path representation, and the optimal trajectory is then obtained using a hybrid scheme comprising the particle swarm optimization method and the local conjugate gradient method. The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method, but also yields solutions of a higher quality.

Original languageEnglish
Pages (from-to)72-81
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Issue number1
Publication statusPublished - 2011 Feb 1



  • Conjugate gradient method
  • Hybrid strategy
  • Parallel platform manipulator
  • Particle swarm optimization
  • Trajectory planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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