Optimization in motion planning for parallel robots passing through singular positions

ÖZDEMİR M.

JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, cilt.32, sa.4, ss.1089-1096, 2017 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 32 Sayı: 4
  • Basım Tarihi: 2017
  • Doi Numarası: 10.17341/gazimmfd.369403
  • Dergi Adı: JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, TR DİZİN (ULAKBİM)
  • Sayfa Sayıları: ss.1089-1096
  • Anahtar Kelimeler: Parallel robot, motion planning, singularity, optimization, CLOSED-LOOP MECHANISMS, INVERSE DYNAMICS, MANIPULATORS, DESIGN, TRACKING
  • Marmara Üniversitesi Adresli: Evet

Özet

Compared to serial robots, parallel robots have many advantages. For this reason, they are used in a wide area, from manufacturing to surgery. However, due to their Type 2 singularities, their workspace is small. As a solution to this problem, consistent motion planning has been proposed in the literature. In this manner a parallel robot can smoothly pass through singular positions, and the whole workspace can be utilized. But the biggest disadvantage of this method is that it can result in back-and-forth motion of the robot end-point along its trajectory. This is a totally undesirable situation from an efficiency perspective. In this article, a theorem is developed and proven to avoid the said problem. Thus, more efficient and effective use of parallel robots is enabled by optimizing the consistent motion planning method.