Intelligent Motion Task Planning of Redundant Parallel Manipulator

Tomohiro Ogawara, Kazuo Nakazawa

Research output: Contribution to journalArticle

Abstract

In this study, a robot using a parallel mechanism as parts of the body is proposed. The robot integrates locomotion and manipulation, and mainly consists of four 3-DOF parallel mechanism with linear actuators and two grippers attached to both sides of the body. “The robot has high redundancy with 14-DOF without grippers”. The purpose of this study is to realize “Intelligent Motion” of the redundant parallel manipulator that performs basic motion of the proposed robot. The robot determines the motion with considering its redundancy and improves it by using actuator informations that are taken in through the motion. First, this paper treats the analysis of kinematics and statics about the parallel manipulator, and shows the method to optimize the solution of inverse kinematics that includes redundancy problem. Next, the intelligent motion task planning of the parallel manipulator using actuator informations is mentioned. Two methods are proposed based on optimization of inverse kinematics. One optimizes the motion by iterative exercise. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods were verified through the experiment.

Original languageEnglish
Pages (from-to)598-603
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number618
DOIs
Publication statusPublished - 1998
Externally publishedYes

Fingerprint

Motion planning
Manipulators
Robots
Redundancy
Grippers
Inverse kinematics
Actuators
Linear actuators
Kinematics
Experiments

Keywords

  • Construction Robot
  • Intelligent Motion
  • Parallel Manipulator
  • Redundant Manipulator

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

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title = "Intelligent Motion Task Planning of Redundant Parallel Manipulator",
abstract = "In this study, a robot using a parallel mechanism as parts of the body is proposed. The robot integrates locomotion and manipulation, and mainly consists of four 3-DOF parallel mechanism with linear actuators and two grippers attached to both sides of the body. “The robot has high redundancy with 14-DOF without grippers”. The purpose of this study is to realize “Intelligent Motion” of the redundant parallel manipulator that performs basic motion of the proposed robot. The robot determines the motion with considering its redundancy and improves it by using actuator informations that are taken in through the motion. First, this paper treats the analysis of kinematics and statics about the parallel manipulator, and shows the method to optimize the solution of inverse kinematics that includes redundancy problem. Next, the intelligent motion task planning of the parallel manipulator using actuator informations is mentioned. Two methods are proposed based on optimization of inverse kinematics. One optimizes the motion by iterative exercise. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods were verified through the experiment.",
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