Abstract
In this study, a robot that utilizes a parallel mechanism at parts of its body is proposed. The robot combines locomotion and manipulation, and consists mainly of four units of three degree of freedom (hereafter called DOF) parallel mechanism with linear actuators and two grippers attached to both sides of its body. The robot has high redundancy with 14-DOF without grippers. The purpose of this study is to realize the "intelligent motion" in the redundant parallel manipulator that performs the basic motion of the proposed robot. The robot determines its motion while considering its redundancy and improves it using actuator information derived from the motion. First, we analyze the kinematics and statics about the parallel manipulator, and show a method to optimize the solution of inverse kinematics that includes the redundancy problem. Next, we discuss the intelligent motion task planning of the parallel manipulator using actuator information. Two methods are proposed based on the optimization of inverse kinematics. One optimizes the motion by iteration. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods is verified experimentally.
| Original language | English |
|---|---|
| Pages (from-to) | 203-209 |
| Number of pages | 7 |
| Journal | JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing |
| Volume | 42 |
| Issue number | 1 |
| Publication status | Published - 1999 Mar |
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Keywords
- Construction Robot
- Intelligent Motion
- Parallel Manipulator
- Redundant Manipulator
ASJC Scopus subject areas
- Engineering(all)
Cite this
Intelligent motion task planning of redundant parallel manipulator. / Ogawara, Tomohiro; Nakazawa, Kazuo.
In: JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing, Vol. 42, No. 1, 03.1999, p. 203-209.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Intelligent motion task planning of redundant parallel manipulator
AU - Ogawara, Tomohiro
AU - Nakazawa, Kazuo
PY - 1999/3
Y1 - 1999/3
N2 - In this study, a robot that utilizes a parallel mechanism at parts of its body is proposed. The robot combines locomotion and manipulation, and consists mainly of four units of three degree of freedom (hereafter called DOF) parallel mechanism with linear actuators and two grippers attached to both sides of its body. The robot has high redundancy with 14-DOF without grippers. The purpose of this study is to realize the "intelligent motion" in the redundant parallel manipulator that performs the basic motion of the proposed robot. The robot determines its motion while considering its redundancy and improves it using actuator information derived from the motion. First, we analyze the kinematics and statics about the parallel manipulator, and show a method to optimize the solution of inverse kinematics that includes the redundancy problem. Next, we discuss the intelligent motion task planning of the parallel manipulator using actuator information. Two methods are proposed based on the optimization of inverse kinematics. One optimizes the motion by iteration. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods is verified experimentally.
AB - In this study, a robot that utilizes a parallel mechanism at parts of its body is proposed. The robot combines locomotion and manipulation, and consists mainly of four units of three degree of freedom (hereafter called DOF) parallel mechanism with linear actuators and two grippers attached to both sides of its body. The robot has high redundancy with 14-DOF without grippers. The purpose of this study is to realize the "intelligent motion" in the redundant parallel manipulator that performs the basic motion of the proposed robot. The robot determines its motion while considering its redundancy and improves it using actuator information derived from the motion. First, we analyze the kinematics and statics about the parallel manipulator, and show a method to optimize the solution of inverse kinematics that includes the redundancy problem. Next, we discuss the intelligent motion task planning of the parallel manipulator using actuator information. Two methods are proposed based on the optimization of inverse kinematics. One optimizes the motion by iteration. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods is verified experimentally.
KW - Construction Robot
KW - Intelligent Motion
KW - Parallel Manipulator
KW - Redundant Manipulator
UR - http://www.scopus.com/inward/record.url?scp=0039776526&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0039776526&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0039776526
VL - 42
SP - 203
EP - 209
JO - JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing
JF - JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing
SN - 0914-8825
IS - 1
ER -