Abstract
Many new machine-tool are based on a parallel robot with 6 DoF, while only 5 of them are needed as the rotation of the end-effector around its normal is not used. We propose an algorithm to determine the values of the extra DoF such that a trajectory lie within the workspace of the robot, is singularity-free and furthermore optimise an arbitrary criterion.
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References
Mayer St-Onge B. and Gosselin C. Singularity analysis and representation of spatial sixdof parallel manipulators. In J. Lenarčič V. Parenti-Castelli, editor, Recent Advances in Robot Kinematics, pages 389–398. Kluwer, 1996.
Moore R.E. Methods and Applications of Interval Analysis. SIAM Studies in Applied Mathematics, 1979.
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© 2000 Springer Science+Business Media Dordrecht
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Merlet, JP., Perng, MW., Daney, D. (2000). Optimal Trajectory Planning of a 5-Axis Machine-Tool Based on a 6-Axis Parallel Manipulator. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_33
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DOI: https://doi.org/10.1007/978-94-011-4120-8_33
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
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