Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration
Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration
复制标题
考虑执行器速度和扭矩限制的 2 自由度过驱动并联机械手的轨迹生成
DOI：
10.1109/cira.2003.1222143
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Z. X. Li
中科院分区：
文献类型：
--
作者：
Y. Yiu;Z. X. Li
讨论了具有驱动器冗余度的2自由度并联机器人的轨迹生成问题。我们研究了如何将执行器的速度和扭矩极限转换为通常指定期望轨迹的末端执行器空间中的速度和加速度极限。对于特定平台，还详细研究了这些限制在工作空间中的变化。在此基础上，对传统x-y转台轨迹自动生成算法进行了改进，使之适用于具有驱动器冗余度的并联机器人。该轨迹生成算法能够在给定起点、终点和期望行程时间的情况下，自动生成并联机器人对称直线点对点梯形轨迹。如果在速度和加速度限制下，并联机器人不可能在期望的行程时间内行驶，则会生成最短时间的轨迹。
This paper discusses the problem of generating trajectory for a 2-dof parallel manipulator with actuator redundancy. We investigate how to transform the speed and torque limits of the actuators to the velocity and acceleration limits in the end-effector space where the desired trajectory is normally specified. How these limits vary over the workspace is also investigated in details for the particular platform. With these limits, the automatic trajectory generation algorithm for traditional x-y table is modified to suit our parallel manipulator with actuator redundancy. Our trajectory generation algorithm can automatically generate symmetric straight line point-to-point trapezoidal trajectory for the parallel manipulator given the start point, the end point, and the desired traveling time. If it is impossible for the parallel manipulator to travel the distance within the desired traveling time under the velocity and acceleration limits, the shortest time trajectory will be generated instead.