Shintemirov_2015.pdf (1.24 MB)
Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions
journal contribution
posted on 2015-10-27, 11:41 authored by A. Shintemirov, A. Niyetkaliyev, Matteo RubagottiThis paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion, based on configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.
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ASME Dynamic Systems and Control Division
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Citation
IEEE-ASME Transactions on Mechatronics, PP(99)Author affiliation
/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of EngineeringVersion
- AM (Accepted Manuscript)
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IEEE-ASME Transactions on MechatronicsPublisher
Institute of Electrical and Electronics Engineers (IEEE), United Statesissn
1083-4435eissn
1941-014XAcceptance date
2015-07-17Copyright date
2015Available date
2015-10-27Publisher DOI
Publisher version
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7229355Notes
(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Language
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