An experimental validation of collision-free trajectories for parallel manipulators

• Autores: G. Carbone, Fernando Gómez Bravo , O. Selvi
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 40, Nº. 4, 2012, págs. 414-433
• Idioma: inglés
• DOI: 10.1080/15397734.2012.687288
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• Resumen

  • This article proposes a systematic approach for validating the trajectories generated by a motion planning method in presence of obstacles for parallel manipulators having less than 6 degrees of freedom (d.o.f.s). The planning algorithm is based on combining a quick random search algorithm together with an optimization method, which aims to obtain feasible and reliable trajectories. The validation approach uses a probabilistic method, which includes Kalman filtering of experimental data. Experimental tests have been carried out by operating a Cassino Parallel Manipulator (CaPaMan) prototype at LARM in Cassino. Results are reported and discussed to show the effectiveness of the proposed approach to generate and validate suitable collision-free trajectories for parallel manipulators.