Details
Original language | English |
---|---|
Pages (from-to) | 679-689 |
Number of pages | 11 |
Journal | ROBOTICA |
Volume | 26 |
Issue number | 5 |
Publication status | Published - Sept 2008 |
Abstract
The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
Keywords
- Heuristics, Mechanism singulary, Motion planning, Parallel manipulators
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- General Mathematics
- Computer Science(all)
- Computer Science Applications
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In: ROBOTICA, Vol. 26, No. 5, 09.2008, p. 679-689.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators
AU - Abdellatif, Houssem
AU - Heimann, Bodo
PY - 2008/9
Y1 - 2008/9
N2 - The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
AB - The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
KW - Heuristics
KW - Mechanism singulary
KW - Motion planning
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=50949103824&partnerID=8YFLogxK
U2 - 10.1017/S0263574708004311
DO - 10.1017/S0263574708004311
M3 - Article
AN - SCOPUS:50949103824
VL - 26
SP - 679
EP - 689
JO - ROBOTICA
JF - ROBOTICA
SN - 0263-5747
IS - 5
ER -