Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Proceedings of the 2005 IEEE International Conference on Robotics and Automation |
| Seiten | 411-416 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2005 |
| Veranstaltung | 2005 IEEE International Conference on Robotics and Automation - Barcelona, Spanien Dauer: 18 Apr. 2005 → 22 Apr. 2005 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Band | 2005 |
| ISSN (Print) | 1050-4729 |
Abstract
This article provides a systematic insight into planning time-minimal trajectories for 6-dof parallel manipulators. Most of wide spread model simplifications, especially known from serial manipulators, are removed in order to give a general solution. All rigid-body forces, dry friction, viscous damping in passive and in actuated joints are considered. This yields a considerable escalation of the task's complexity. Therefore, an adapted algorithm is presented, that ensures the computational efficiency of trajectory planning, even in cases of high complex dynamics.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
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- BibTex
- RIS
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. S. 411-416 1570153 (Proceedings - IEEE International Conference on Robotics and Automation; Band 2005).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Adapted time-optimal trajectory planning for parallel manipulators with full dynamic modelling
AU - Abdellatif, H.
AU - Heimann, Bodo
PY - 2005
Y1 - 2005
N2 - This article provides a systematic insight into planning time-minimal trajectories for 6-dof parallel manipulators. Most of wide spread model simplifications, especially known from serial manipulators, are removed in order to give a general solution. All rigid-body forces, dry friction, viscous damping in passive and in actuated joints are considered. This yields a considerable escalation of the task's complexity. Therefore, an adapted algorithm is presented, that ensures the computational efficiency of trajectory planning, even in cases of high complex dynamics.
AB - This article provides a systematic insight into planning time-minimal trajectories for 6-dof parallel manipulators. Most of wide spread model simplifications, especially known from serial manipulators, are removed in order to give a general solution. All rigid-body forces, dry friction, viscous damping in passive and in actuated joints are considered. This yields a considerable escalation of the task's complexity. Therefore, an adapted algorithm is presented, that ensures the computational efficiency of trajectory planning, even in cases of high complex dynamics.
KW - Dynamic modelling
KW - Friction
KW - Parallel robots
KW - Time-optimal planning
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=33846121007&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570153
DO - 10.1109/ROBOT.2005.1570153
M3 - Conference contribution
AN - SCOPUS:33846121007
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 411
EP - 416
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -