Trajectory planning of a parallel manipulator based on kinematic transmission property

• Published in: Intelligent service robotics Vol. 8; no. 3; pp. 129 - 139
• Main Authors: Wang, Sun’an, Wu, Shenli, Kang, Chenlong, Li, Xiaohu
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.07.2015; Springer Nature B.V
• Subjects: Artificial Intelligence; Constraint modelling; Control; Coordinate transformations; Dynamical Systems; Engineering; Kinematics; Manipulators; Mechatronics; Micromanipulation; Planning; Quadratic programming; Robotics; Robotics and Automation; Simulation; Special Issue; Tracking errors; Trajectory optimization; Trajectory planning; User Interfaces and Human Computer Interaction; Velocity; Vibration; Kinematic transmission property; Micro-motion parallel manipulator; Trajectory planning; Seven-degree B-spline; Smooth trajectory
• ISSN: 1861-2776; 1861-2784
• DOI: 10.1007/s11370-015-0176-z

In order to obtain smooth trajectory and real-time performance of micro-manipulation for micro-motion parallel manipulator, this paper presents a new smooth trajectory planning based on the kinematic transmission property. Under the requirement of high tracking precision, seven-degree B-spline is adopted to interpolate poses of the micro-motion parallel manipulator in Cartesian space, which will make the velocities, accelerations and jerks bounded and continuous. Moreover, the start-end velocities, the start-end accelerations and the start-end jerks are configurable based on the seven-degree B-spline. In order to ensure that the planned trajectory is the optimal, an objective function containing accumulated jerk based on the kinematic transmission property is considered. Then, sequential quadratic programming method is adopted to obtain the optimal smooth trajectory based on the good kinematic transmission property, which can meet the kinematic constraints. Simulations and experiments show that the planning trajectories based on the proposed method have the advantages of continuous and small accumulated jerk. Furthermore, the proposed method can decrease tracking errors of the trajectories more effectively than the cubic spline.