Dynamics based trajectory planning for parallel manipulators

Yunjiang Lou; Fang Feng; Zhibin Li

doi:10.1109/ICINFA.2009.5204938

Dynamics based trajectory planning for parallel manipulators

Yunjiang Lou^*
, Fang Feng
, Zhibin Li

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory planning methods, the time-optimal, the jerk-bounded, and the cubic polynomial planning, are investigated and implemented. The Orthopod, a 3-DoF purely translational parallel manipulator, is used as the experimental plant. This study provides a quantitative comparison of the three planning methods. The experimental results provide a guideline to choose an appropriate planning method for practical industrial applications.

Original language	English
Title of host publication	2009 IEEE International Conference on Information and Automation, ICIA 2009
Pages	295-300
Number of pages	6
DOIs	https://doi.org/10.1109/ICINFA.2009.5204938
State	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Information and Automation, ICIA 2009 - Zhuhai, Macau, China Duration: 22 Jun 2009 → 25 Jun 2009

Publication series

Name	2009 IEEE International Conference on Information and Automation, ICIA 2009

Conference

Conference	2009 IEEE International Conference on Information and Automation, ICIA 2009
Country/Territory	China
City	Zhuhai, Macau
Period	22/06/09 → 25/06/09

Keywords

Dynamics-based
Parallel manipulators
Time-optimal
Trajectory planning

Access to Document

10.1109/ICINFA.2009.5204938

Cite this

@inproceedings{9c6a9273ff114eaa9b6bc4d1bb4ce6be,

title = "Dynamics based trajectory planning for parallel manipulators",

abstract = "Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory planning methods, the time-optimal, the jerk-bounded, and the cubic polynomial planning, are investigated and implemented. The Orthopod, a 3-DoF purely translational parallel manipulator, is used as the experimental plant. This study provides a quantitative comparison of the three planning methods. The experimental results provide a guideline to choose an appropriate planning method for practical industrial applications.",

keywords = "Dynamics-based, Parallel manipulators, Time-optimal, Trajectory planning",

author = "Yunjiang Lou and Fang Feng and Zhibin Li",

year = "2009",

doi = "10.1109/ICINFA.2009.5204938",

language = "英语",

isbn = "9781424436088",

series = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

pages = "295--300",

booktitle = "2009 IEEE International Conference on Information and Automation, ICIA 2009",

note = "2009 IEEE International Conference on Information and Automation, ICIA 2009 ; Conference date: 22-06-2009 Through 25-06-2009",

}

Lou, Y, Feng, F & Li, Z 2009, Dynamics based trajectory planning for parallel manipulators. in 2009 IEEE International Conference on Information and Automation, ICIA 2009., 5204938, 2009 IEEE International Conference on Information and Automation, ICIA 2009, pp. 295-300, 2009 IEEE International Conference on Information and Automation, ICIA 2009, Zhuhai, Macau, China, 22/06/09. https://doi.org/10.1109/ICINFA.2009.5204938

Dynamics based trajectory planning for parallel manipulators. / Lou, Yunjiang; Feng, Fang; Li, Zhibin.
2009 IEEE International Conference on Information and Automation, ICIA 2009. 2009. p. 295-300 5204938 (2009 IEEE International Conference on Information and Automation, ICIA 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamics based trajectory planning for parallel manipulators

AU - Lou, Yunjiang

AU - Feng, Fang

AU - Li, Zhibin

PY - 2009

Y1 - 2009

N2 - Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory planning methods, the time-optimal, the jerk-bounded, and the cubic polynomial planning, are investigated and implemented. The Orthopod, a 3-DoF purely translational parallel manipulator, is used as the experimental plant. This study provides a quantitative comparison of the three planning methods. The experimental results provide a guideline to choose an appropriate planning method for practical industrial applications.

AB - Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory planning methods, the time-optimal, the jerk-bounded, and the cubic polynomial planning, are investigated and implemented. The Orthopod, a 3-DoF purely translational parallel manipulator, is used as the experimental plant. This study provides a quantitative comparison of the three planning methods. The experimental results provide a guideline to choose an appropriate planning method for practical industrial applications.

KW - Dynamics-based

KW - Parallel manipulators

KW - Time-optimal

KW - Trajectory planning

UR - https://www.scopus.com/pages/publications/70449627238

U2 - 10.1109/ICINFA.2009.5204938

DO - 10.1109/ICINFA.2009.5204938

M3 - 会议稿件

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SN - 9781424436088

T3 - 2009 IEEE International Conference on Information and Automation, ICIA 2009

SP - 295

EP - 300

BT - 2009 IEEE International Conference on Information and Automation, ICIA 2009

T2 - 2009 IEEE International Conference on Information and Automation, ICIA 2009

Y2 - 22 June 2009 through 25 June 2009

ER -

Dynamics based trajectory planning for parallel manipulators

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Keywords

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