Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 679-689 |
| Seitenumfang | 11 |
| Fachzeitschrift | ROBOTICA |
| Jahrgang | 26 |
| Ausgabenummer | 5 |
| Publikationsstatus | Veröffentlicht - Sept. 2008 |
Abstract
The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Mathematik (insg.)
- Allgemeine Mathematik
- Informatik (insg.)
- Angewandte Informatik
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in: ROBOTICA, Jahrgang 26, Nr. 5, 09.2008, S. 679-689.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators
AU - Abdellatif, Houssem
AU - Heimann, Bodo
PY - 2008/9
Y1 - 2008/9
N2 - The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
AB - The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.
KW - Heuristics
KW - Mechanism singulary
KW - Motion planning
KW - Parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=50949103824&partnerID=8YFLogxK
U2 - 10.1017/S0263574708004311
DO - 10.1017/S0263574708004311
M3 - Article
AN - SCOPUS:50949103824
VL - 26
SP - 679
EP - 689
JO - ROBOTICA
JF - ROBOTICA
SN - 0263-5747
IS - 5
ER -