Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

This paper provides a kinematic and dynamic analysis of mobile parallel manipulators (MPM). The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform. Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterion-based generalized-pseudo-inverse. A minimum time trajectory parameterization is obtained via cycloidal profile to initialize multi-objective trajectory planning of the MPM. Considered objectives include time energy minimization redundancy resolution and singularity avoidance. Simulation results illustrating the effectiveness of the proposed approach are presented and discussed.

Abstract licence: CC BY

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