Abstract
The kinetostatics of the 3\(\text {S}_\text {n}\!\!\) PU robot allowed us, in the previous chapter, to prove that this robot is able to locally move its moving platform—within some regions—in a six-dimensional configuration space. In this chapter we go a step further by presenting a solution to the motion planning problem which can be adapted to other non-holonomic parallel robots. This chapter presents some results obtained in cooperation with professors Krzysztof Tchoń and Janusz Jakubiak from Wrocław University of Technology, Poland, which already appeared in [3].
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J. Jakubiak, K. Tchoń, W. Magiera, Motion planning in velocity affine mechanical systems. Int. J. Control 83(9), 1965–1974 (2010)
K. Tchoń, J. Jakubiak, Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of Jacobian inverse kinematics algorithms. Int. J. Control 76(14), 1387–1419 (2003)
K. Tchoń, J. Jakubiak, P. Grosch, F. Thomas, Motion planning for parallel Robots with non-holonomic joints, Latest Advances in Robot Kinematics (2012), pp. 115–122
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Grosch, P., Thomas, F. (2019). Motion Planning for the 3\(\text {S}_\text {n}\!\!\) PU Robot. In: Parallel Robots With Unconventional Joints. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-030-11304-9_5
Download citation
DOI: https://doi.org/10.1007/978-3-030-11304-9_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-11303-2
Online ISBN: 978-3-030-11304-9
eBook Packages: EngineeringEngineering (R0)