An algorithm for smooth trajectory planning optimization of isotropic translational parallel manipulators

This paper presents a new algorithm for smooth trajectory planning optimization of isotropic translational parallel manipulators (ITPM) that their Jacobian matrices are constant and diagonal over the whole robot workspace. The basic motivation of this work is to formulate the robot kinematic and geo...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2016-07, Vol.230 (12), p.1987-2002
Hauptverfasser:	Azizi, Mahmood Reza, Khani, Rahmatolah
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Manipulators Mathematical analysis Matlab Optimization Planning Robot arms Robots Trajectory planning Variables
Online-Zugang:	Volltext
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