Smooth Trajectory Planning for 3-UPU Parallel Manipulator

Kambiz Ghaem Osgouie; Amir Hossein Asfia; Mohamad Hossein Sadooghi; Abolfazl Ahmadi Kazemabadi

doi:10.4028/www.scientific.net/AMM.464.285

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 464Smooth Trajectory Planning for 3-UPU Parallel...

Smooth Trajectory Planning for 3-UPU Parallel Manipulator

Abstract:

Exciting the mechanical resonance mode and vibration caused by non-smooth trajectories can cause some failure in the structure of the robot and its actuators. This work proposes a smooth trajectory planning for 3 degree of freedom (dof) 3-upu parallel manipulator. We have used optimization method to define the smooth trajectory for this robot. In this paper an objective function has been used which contain a term related to the total execution time and a term corresponding to the integral of squared jerk. Some constraints have been applied to the problem as the input of our system. Task space and joint space trajectory are then considered as the output. In this method optimization techniques such as genetic algorithm and fmincon (function of MatLab^TM ) have been investigated. Six via points have been considered and B-splines have been used to present kinematic quantities.

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Periodical:

Applied Mechanics and Materials (Volume 464)

Pages:

285-292

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.464.285

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Online since:

November 2013

Authors:

Kambiz Ghaem Osgouie, Amir Hossein Asfia*, Mohamad Hossein Sadooghi, Abolfazl Ahmadi Kazemabadi

Keywords:

3-upu, Genetic Algorithm (GA), Jerk, Smoothness, Trajectory Planning

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