GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS

Héctor A. Moreno, J. Alfonso Pámanes, Philippe Wenger, Damien Chablat

Abstract

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted manipulator allows globally optimize the condition number of the jacobian matrix during the accomplishment of a desired task. Consequently, the accuracy of the manipulator is maximized and singular or degenerate poses are avoided. A case of study is presented to show the effectiveness of our approach.

References

  1. Alba G. O., Pámanes G. J. A., Wenger P. Optimación Global del Desempeño de Manipuladores Paralelos Redundantes en la Ejecución de Trayectorias Especificadas; Proceedings of the 2004 Mexican Congress of Robotics, pp. 45-50; Torreón, México, 2004.
  2. Alba G. O., Pámanes G. J. A., Wenger P. Consistent kinetostatic indices for planar 3-DOF parallel manipulators: application to the optimal kinematic inversion; Proceedings of the 2005 ASME International Design Engineering Technical Conference & Computer and Information in Engineering Conference; paper DETC 2005-84326, 2005.
  3. Angeles J. , López-Cajún C. 1992. Kinematic Isotropy and Conditioning Index of Serial Robotic Manipulators; Int. J. Robotics Research; 11 (6), pp. 560-571.
  4. Daniali H., Zsombor-Murray P, Angeles J. The isotropic design of two general classes of parallel manipulators; Journal of Robotics Systems, Vol. 12, No. 12, pp 785- 805, 1995.
  5. Gosselin C., Angeles J., 1990. Singularity analysis of closed-loop kinematic chains. Proceedings of the 1990 IEEE International Conference of Robotics and Automation.
  6. Hemmerle J.S., Prinz F.B., 1991. Optimal Path Placement for Kinematically Redundant Manipulators. Proceedings of the 1991 IEEE International Conference of Robotics and Automation; pp.1234- 1243.
  7. Majou F., Wenger P., Chablat D., 2002. Design of 2-DOF Parallel Mechanisms for Machining Applications. Advances in Robot Kinematics: Theory and Applications; Kluwer Academic Publishers. Edited by J. Lenarcic and F. Thomas; pp. 319-328.
  8. Moreno A. H., Modelado y Planificación de Trayectorias de Robots Paralelos: Estudio de Tres Casos. Thesis of Master in Sciences. Instituto Tecnológico de la Laguna, 2006.
  9. Wenger P., Gosselin C., Chablat D., 2001. A comparative study of parallel kinematic architectures for machining applications; 2nd Workshop on Computational Kinematics, Seoul South Korea.
Download


Paper Citation


in Harvard Style

A. Moreno H., Wenger P., Alfonso Pámanes J. and Chablat D. (2006). GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 516-522. DOI: 10.5220/0001213505160522


in Bibtex Style

@conference{icinco06,
author={Héctor A. Moreno and Philippe Wenger and J. Alfonso Pámanes and Damien Chablat},
title={GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={516-522},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213505160522},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS
SN - 978-972-8865-60-3
AU - A. Moreno H.
AU - Wenger P.
AU - Alfonso Pámanes J.
AU - Chablat D.
PY - 2006
SP - 516
EP - 522
DO - 10.5220/0001213505160522