Adapted time-optimal trajectory planning for parallel manipulators with full dynamic modelling

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 411-416

  Abdellatif, Houssem ^a   Heimann, Bodo ^a  

^a LEIBNIZ UNIVERSITY HANNOVER   (Germany)

Author keywords

Dynamic modelling; Friction; Parallel robots; Time optimal planning; Trajectory planning

Indexed keywords

ADAPTIVE ALGORITHMS; FRICTION; MANIPULATORS; MATHEMATICAL MODELS; PARALLEL PROCESSING SYSTEMS; PROBLEM SOLVING;

DYNAMIC MODELING; PARALLEL ROBOTS; TIME-OPTIMAL PLANNING; TRAJECTORY PLANNING;

MOTION PLANNING;

EID: 33846121007     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570153     Document Type: Conference Paper

References (15)

1. Z. Shiller and S. Dubrowsky, "On time optimal control of robotic manipulators with actuator and end-effector constraints," in Proc. of the 1985 IEEE International Conference on Robotics and Automation, St. Louis, USA, 1985, pp. 614-620.
2. K. G. Shin and N. McKay, "Minimum-time control of robotic manipulators with geometric path constraints," IEEE Transactions on Automatic Control, vol. AC-30, no. 6, pp. 531-541, 1985.
3. F. Pfeifer and R. Johanni, "A concept for manipulator trajectory planning," IEEE Journal of Robotics and Automation, vol. RA-3, no. 2, pp. 115-123, 1987.
4. K. G. Shin and N. McKay, "Minimum-time trajectory planning for industrial robots with general torque constraints," in Proc. of the 1986 IEEE International. Conference on Robotics and Automation, San Fransisco, USA, 1986, pp. 412-417.
5. J.-J. Slotine and H.-S.-Yang, "Improving the efficiency of time-optimal path-following algorithms," IEEE Transactions on Robotics and Automation, vol. 5, no. 1, pp. 118-124, 1989.
6. J. Merlet, Parallel Robots, Solid Mechanics and its Applications. Doderecht, Netherlands: Kluwer Academic Publishers, 2000.
7. W. Khalil and S. D. Guegan, "A novel solution for the dynamic modelling of gough-stewart manipulators," in Proc. of the 2002 IEEE International Conference on Robotics and Automation, Wahington DC, USA, May 2002, pp. 817-822.
8. K. Harib and K. Srinivasan, "Kinematic and dynamics analysis of stewart pltatform-based machine tool structures," Robotica, vol. 21, pp. 541-554, 2003.
9. H. Tönshoff, H. Grendel, and M. Grotjahn, "Modeling and control of a linear direct driven hexapod," in Development Methods and Application Experience Of Parallel Kinematics - The 3rd Chemnitz Parallel Kinematics Seminar PKS 2002, Chemnitz, Germany, 2002, pp. 335-350.
10. M. Hadorn, "A model-based nc postprocessing system for parallel kinematic machine tools," in The 4th Chemnitz Parallel Kinematics Seminar PKS 2004, Chemnitz, Germany, 2004, pp. 291-312.
11. Z. Shiller and H.-H. Lu, "Robust computation of path constrained time optimal motions," in Proc. of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, USA, May 1990, pp. 144-149.
12. G. Prado-Castellote and R. H. Cannon, "Proximate time-optimal algorithm for on-line path parametrization and modification," in Proc. of the 1996 IEEE International. Conference on Robotics and Automation.
13. D. Constantinescu and A. Croft, "Smooth and time-optimal trajectory planning for industrail manipulators along specified paths," Journal of Robotic Systems, vol. 17, no. 5, pp. 233-249, 2000.
14. M. Grotjahn, H. Abdellatif, and B. Heimann, "Path accuracy improvement of parallel kinematic structures by the identification of friction and rigid-body dynamics," in The 4th Chemnitz Parallel Kinematics Seminar PKS 2004, Chemnitz, Germany, 2004, pp. 217-236.
15. M. Grotjahn, B. Heimann, and H. Abdellatif, "Identification of the dynamics of parallel kinematic structures for model-based control," Multibody System. Dynamics, vol. 11, no. 3, pp. 273-294, 2004.