2024-03-28T12:09:29Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/976292019-06-11T06:39:14Zcom_10261_106com_10261_4col_10261_1241
00925njm 22002777a 4500
dc
Tchoń, Krzysztof
author
Jakubiak, Janusz
author
Grosch, Patrick
author
Thomas, Federico
author
2012
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.
Latest Advances in Robot Kinematics: 115-122 (2012)
http://hdl.handle.net/10261/97629
10.1007/978-94-007-4620-6_15
Parallel non-holonomic manipulator
Jacobian motion planning
Motion planning for parallel robots with non-holonomic joints