TY - JOUR
T1 - Singularity-free trajectory planning of platform-type parallel manipulators for minimum actuating effort and reactions
AU - Chen, Chun Ta
AU - Chi, Hua Wei
N1 - Funding Information:
This work was supported partially by the National Science Council of the ROC under Grant NSC 94-2212-E-212-013 and NSC 94-2212-E-212-016. The authors also express appreciation to Dr. Cheryl Rutledge, Department of English, Da Yeh University, for her editorial assistance.
PY - 2008/5
Y1 - 2008/5
N2 - Due to the existence of singular configurations within the workspace for a platform- type parallel manipulator (PPM), the actuating force demands increase drastically as the PPM approaches or crosses singular points. Therefore, in this report, a numerical technique is presented to plan a singularity-free trajectory of the PPM for minimum actuating effort and reactions. By using the parametric trajectory representation, the singularity-free trajectory planning problem can be cast to the determination of undetermined control points, after which a particle swarm optimization algorithm is employed to find the optimal control points. This algorithm ensures that the obtained trajectories can avoid singular points within the workspace and that the PPM has the minimum actuating effort and reactions. Simulations and discussions are presented to demonstrate the effectiveness of the algorithm.
AB - Due to the existence of singular configurations within the workspace for a platform- type parallel manipulator (PPM), the actuating force demands increase drastically as the PPM approaches or crosses singular points. Therefore, in this report, a numerical technique is presented to plan a singularity-free trajectory of the PPM for minimum actuating effort and reactions. By using the parametric trajectory representation, the singularity-free trajectory planning problem can be cast to the determination of undetermined control points, after which a particle swarm optimization algorithm is employed to find the optimal control points. This algorithm ensures that the obtained trajectories can avoid singular points within the workspace and that the PPM has the minimum actuating effort and reactions. Simulations and discussions are presented to demonstrate the effectiveness of the algorithm.
KW - Particle swarm optimization algorithm
KW - Platform-type parallel manipulator
KW - Singularity-free trajectory
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U2 - 10.1017/S0263574707004043
DO - 10.1017/S0263574707004043
M3 - Article
AN - SCOPUS:43149115610
SN - 0263-5747
VL - 26
SP - 371
EP - 384
JO - Robotica
JF - Robotica
IS - 3
ER -