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Authors: Héctor A. Moreno 1 ; Philippe Wenger 2 ; J. Alfonso Pámanes 1 and Damien Chablat 2

Affiliations: 1 Instituto Tecnológico de la Laguna (ITLag), Mexico ; 2 Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), France

Keyword(s): Optimization of performance, parallel manipulators, cooperative manipulators, trajectory planning.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 516-522. DOI: 10.5220/0001213505160522

@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 1: ICINCO},
year={2006},
pages={516-522},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213505160522},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS
SN - 978-972-8865-60-3
IS - 2184-2809
AU - A. Moreno, H.
AU - Wenger, P.
AU - Alfonso Pámanes, J.
AU - Chablat, D.
PY - 2006
SP - 516
EP - 522
DO - 10.5220/0001213505160522
PB - SciTePress

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