Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2005 IEEE International Conference on Robotics and Automation |
| Pages | 411-416 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Event | 2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| Volume | 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.
Keywords
- Dynamic modelling, Friction, Parallel robots, Time-optimal planning, Trajectory planning
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
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Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 411-416 1570153 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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 -