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Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

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journal contribution
posted on 27.10.2015, 11:41 by A. Shintemirov, A. Niyetkaliyev, Matteo Rubagotti
This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion, based on configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.

Funding

ASME Dynamic Systems and Control Division

History

Citation

IEEE-ASME Transactions on Mechatronics, PP(99)

Author affiliation

/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Engineering

Version

AM (Accepted Manuscript)

Published in

IEEE-ASME Transactions on Mechatronics

Publisher

Institute of Electrical and Electronics Engineers (IEEE), United States

issn

1083-4435

eissn

1941-014X

Acceptance date

17/07/2015

Copyright date

2015

Available date

27/10/2015

Publisher version

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7229355

Notes

(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

Language

en

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