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DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
INVESTIGATION OF MOTION PLANNING METHODS WITH A KINEMATICALLY REDUNDANT PARALLEL MANIPULATOR
Submission Author:
João Cavalcanti Santos , SP
Co-Authors:
João Cavalcanti Santos, Maíra Martins da Silva
Presenter: João Cavalcanti Santos
doi://10.26678/ABCM.DINAME2017.DIN17-0060
Abstract
Kinematic redundancy is capable of enhancing dynamic performance, improving precision, applying obstacle avoidance, among others. Nevertheless, the academy does not present a well-established method for planning the motion of the additional degrees of freedom available with manipulators with this type of redundancy. In order to contribute to the fulfillment of this gap, different motion planning strategies for a kinematically redundant manipulator are compared through experimental tests and numerical simulations. A planar parallel manipulator 3PRRR is used as an example. Necessary mathematical models are introduced. The ability to maintain high precision and rigidity is analyzed. In addition, dynamic performance is improved through the reduction of actuator loads. A truncated solution which optimizes just initial and final positions presented limited efficiency thanks to the fact that it does not freely vary positions for each instant of the task. Inverse kinematic resolution attained high rigidity and precision, but demanded inconsistent forces. Finally, a global optimization which compromises with these characteristics and accelerations (demanding lower forces) proved to be an efficient algorithm.
Keywords
parallel kinematic manipulators, kinematic redundancy, motion planning
