Presentado al 13th International Symposium on Advances in Robot Kinematics (ARK) celebrado en Austria del 24 al 28 de junio de 2012. ; Designing a robot manipulator with fewer actuators than the dimension of its configuration space – to reduce bulk, weight and cost – becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. Unfortunately, the mechanical advantages of these non-holonomic designs are usually darkened by the complexity of their control. This paper deals with motion planning for parallel robots with non-holonomic joints shedding new light on their control strategies. As a case study, the motion planning problem is solved for a 3-ŬPU parallel robot, where Ŭ stands for a non-holonomic joint whose instantaneous kinematics are equivalent to that of a universal joint. It is thus shown how the three prismatic actuators can maneuver to reach any six-degree-of-freedom pose of the moving platform. The motion planning has been addressed as a control problem in the control system representation of the robot’s kinematics and a motion planning algorithm has been devised based on a Jacobian inversion of the end-point map of the representation. Performance of the algorithm is illustrated with numeric computations. ; The research of the first two authors was supported by a statutory grant from Wrocław University of Technology. ; Peer Reviewed
Motion planning for parallel robots with non-holonomic joints
2012-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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