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A motion planning strategy based on dynamic programming was presented for parallel manipulator with dynamics constraints among intervenes. All the motion intervenes were unified as intervenes variable model. At each motion state, calculated the values and velocities of intervene variables, and the admissible velocities of the next closely sufficiently state were computed with the dynamic constraints. A motion intervenes avoidance algorithm was implemented, which was applied to an actual parallel manipulator by experiment. The results show that it can detect the interference variable efficiently, and avoid the interference without intermission.