Abstract
The kinetostatics of the 3\(\text {S}_\text {n}\!\!\) PU robot allowed us, in the previous chapter, to prove that this robot is able to locally move its moving platform—within some regions—in a six-dimensional configuration space. In this chapter we go a step further by presenting a solution to the motion planning problem which can be adapted to other non-holonomic parallel robots. This chapter presents some results obtained in cooperation with professors Krzysztof Tchoń and Janusz Jakubiak from Wrocław University of Technology, Poland, which already appeared in [3].
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References
J. Jakubiak, K. Tchoń, W. Magiera, Motion planning in velocity affine mechanical systems. Int. J. Control 83(9), 1965–1974 (2010)
K. Tchoń, J. Jakubiak, Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of Jacobian inverse kinematics algorithms. Int. J. Control 76(14), 1387–1419 (2003)
K. Tchoń, J. Jakubiak, P. Grosch, F. Thomas, Motion planning for parallel Robots with non-holonomic joints, Latest Advances in Robot Kinematics (2012), pp. 115–122
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Grosch, P., Thomas, F. (2019). Motion Planning for the 3\(\text {S}_\text {n}\!\!\) PU Robot. In: Parallel Robots With Unconventional Joints. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-030-11304-9_5
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DOI: https://doi.org/10.1007/978-3-030-11304-9_5
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