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Smooth trajectory planning for 3-UPU parallel manipulator

conference contribution
posted on 2013-11-01, 00:00 authored by K G Osgouie, Amirhossein Asfia, M H Sadooghi, A A Kazemabadi
Exciting the mechanical resonance mode and vibration caused by non-smooth trajectories can cause some failure in the structure of the robot and its actuators. This work proposes a smooth trajectory planning for 3 degree of freedom (dof) 3-upu parallel manipulator. We have used optimization method to define the smooth trajectory for this robot. In this paper an objective function has been used which contain a term related to the total execution time and a term corresponding to the integral of squared jerk. Some constraints have been applied to the problem as the input of our system. Task space and joint space trajectory are then considered as the output. In this method optimization techniques such as genetic algorithm and fmincon (function of MatLab™) have been investigated. Six via points have been considered and B-splines have been used to present kinematic quantities.

History

Event

Intelligent Materials and Mechatronics. International Conference (2013. Hong Kong)

Volume

Applied Mechanics and Materials Vol. 464

Pagination

285 - 292

Publisher

Scientific.Net

Location

Hong Kong, China

Place of publication

Pfaffikon, Switzerland

Start date

2013-11-01

End date

2013-11-02

ISSN

1660-9336

eISSN

1662-7482

ISBN-13

9783037859353

Publication classification

EN Other conference paper

Copyright notice

2014, Trans Tech Publications, Switzerland

Editor/Contributor(s)

Guohui Yang

Title of proceedings

IMM 2013 : Proceedings of the International Conference on Intelligent Materials and Mechatronics

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