Publication

Motion planning for parallel robots with non-holonomic joints

Conference Article

Conference

International Symposium on Advances in Robot Kinematics (ARK)

Edition

13th

Pages

115-122

Doc link

http://dx.doi.org/10.1007/978-94-007-4620-6_15

File

Download the digital copy of the doc pdf document

Authors

Abstract

Designing a robot manipulator with fewer actuators than the dimension of its configuration space – to reduce bulk, weight and cost – becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. Unfortunately, the mechanical advantages of these non-holonomic designs are usually darkened by the complexity of their control. This paper deals with motion planning for parallel robots with non-holonomic joints shedding new light on their control strategies. As a case study, the motion planning problem is solved for a 3-ŬPU parallel robot, where Ŭ stands for a non-holonomic joint whose instantaneous kinematics are equivalent to that of a universal joint. It is thus shown how the three prismatic actuators can maneuver to reach any six-degree-of-freedom pose of the moving platform. The motion planning has been addressed as a control problem in the control system representation of the robot’s kinematics and a motion planning algorithm has been devised based on a Jacobian inversion of the end-point map of the representation. Performance of the algorithm is illustrated with numeric computations.

Categories

automation.

Author keywords

parallel non-holonomic manipulator, Jacobian motion planning

Scientific reference

K. Tchon, J. Jakubiak, P. Grosch and F. Thomas. Motion planning for parallel robots with non-holonomic joints, 13th International Symposium on Advances in Robot Kinematics, 2012, Innsbruck, in Latest Advances in Robot Kinematics, pp. 115-122, 2012, Springer.