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A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

Published online by Cambridge University Press:  01 September 2008

Houssem Abdellatif  and
Bodo Heimann
Houssem Abdellatif*
Affiliation:
Institute of Robotics, Hannover Center of Mechatronics, Appelstr. 11, D-30167 Hannover, Germany
Bodo Heimann
Affiliation:
Institute of Robotics, Hannover Center of Mechatronics, Appelstr. 11, D-30167 Hannover, Germany
*
*Corresponding author. E-mail: abdellatif@ifr.uni-hannover.de, heimann@ifr.uni-hannover.de
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Summary

The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined “next-singularity” function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

Keywords

Parallel manipulatorsMotion planningHeuristicsMechanism singulary
Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 679 - 689
Copyright
Copyright © Cambridge University Press 2008

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