Romansy 16 pp 179-186 | Cite as

A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines

  • Amar Khoukhi
  • Luc Baron
  • Marek Balazinski
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper deals with a new optimal dynamic trajectory planning approach for Parallel Kinematic Machines (PKM) under task, workspace, and manipulator constraints. From kinematic, and dynamic models based on Euler-Lagrange formalism, we develop a multi-objective trajectory planning, optimizing electrical energy and robot traveling time and satisfying several technological constraints such as task requirements, actuator, link length, and workspace limitations. A new decoupled formulation is considered in order to cope with the difficulty of dynamic parameters computation. A systematic implementation procedure is then given along with simulation results.


Optimal Control Problem Parallel Manipulator Trajectory Planning Parallel Robot Parallel Kinematic Machine 
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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Amar Khoukhi
    • 1
  • Luc Baron
    • 1
  • Marek Balazinski
    • 1
  1. 1.Mechanical Engineering DepartmentÉcole Polytechnique de MontréalMontrealCanada

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