An optimum path planning for cassino parallel manipulator by using inverse dynamics

Authors:
G. Carbone;M. Ceccarelli;P. j. Oliveira;S. f. p. Saramago;J. c. m. Carvalho
Affiliations:
Laboratory of robotics and mechatronics, dimsat, university of cassino, via di biasio 43-03043 cassino, (fr), italy. e-mails: carbone@unicas.it, ceccarelli@unicas.it;Laboratory of robotics and mechatronics, dimsat, university of cassino, via di biasio 43-03043 cassino, (fr), italy. e-mails: carbone@unicas.it, ceccarelli@unicas.it;Federal university of uberllândia av. joao naves de avila, 2160-38408100 uberlandia (mg), brazil. e-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br;Federal university of uberllândia av. joao naves de avila, 2160-38408100 uberlandia (mg), brazil. e-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br;Federal university of uberllândia av. joao naves de avila, 2160-38408100 uberlandia (mg), brazil. e-mails: saramago@ufu.br, jcmendes@mecanica.ufu.br
Venue:
Robotica
Year:
2008

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Abstract

In this paper, a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multi-objective optimisation problem has been formulated for an efficient numerical solution procedure through kinematic and dynamic features of manipulator operation. Computational economy has been obtained by properly using a genetic algorithm to search an optimal solution for path spline-functions. Numerical characteristics of the numerical solving procedure have been outlined through a numerical example applied to Cassino Parallel Manipulator (CaPaMan) both for path planning and design purposes.