By Topic

A new motion intervenes avoidance algorithm for parallel manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yuangjing Feng ; Syst. Eng. Inst., Xi''an Jiaotong Univ., China ; Zuren Feng ; Bing Zhou

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.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004