A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators

In planning the trajectories of motor-driven parallel platform manipulators, the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator str...

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Veröffentlicht in:	Robotics and computer-integrated manufacturing 2011-02, Vol.27 (1), p.72-81
Hauptverfasser:	Chen, Chun-Ta, Liao, Te-Tan
Format:	Artikel
Sprache:	eng
Schlagworte:	Automation Conjugate gradient method Hybrid strategy Manipulators Mathematical models Optimization Parallel platform manipulator Particle swarm optimization Platforms Robot arms Trajectories Trajectory planning
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