A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines
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.
KeywordsOptimal Control Problem Parallel Manipulator Trajectory Planning Parallel Robot Parallel Kinematic Machine
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