Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning. (7th November 2013)

• Record Type: Journal Article
• Authors: Khoukhi, Amar; Hamdan, Mutaz
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 11(2013)
• Publication Date: 2013-11-07
• Subjects: Mobile Parallel Manipulator (MPM) -- Kinematic Redundancy Resolution -- Off-Line Trajectory Planning; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56628
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper provides a kinematic and dynamic analysis of mobile parallel manipulators (MPM). The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform. Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterion-based generalized-pseudo-inverse. A minimum time trajectory parameterization is obtained via cycloidal profile to initialize multi-objective trajectory planning of the MPM. Considered objectives include time energy minimization redundancy resolution and singularity avoidance. Simulation results illustrating the effectiveness of the proposed approach are presented and discussed.