Trajectory planning and control of parallel manipulators

Abstract

Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In… (More)

Topics

11 Figures and Tables

Slides referencing similar topics