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Conference papers

Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator

Jean-Pierre Merlet 1 M.-W. Perng 2 David Daney 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Many new machine-tool are based on a parallel robot with 6 DoF, while only 5 of them are needed as the rotation of the end-effector around its normal is not used. We propose an algorithm to determine the values of the extra DoF such that a trajectory lie within the workspace of the robot, is singularity-free and furthermore optimise an arbitrary criterion.
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https://hal.inria.fr/hal-00990113
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Submitted on : Tuesday, May 13, 2014 - 10:06:46 AM
Last modification on : Friday, February 4, 2022 - 3:09:21 AM

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Jean-Pierre Merlet, M.-W. Perng, David Daney. Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator. International symposium on Advances in robot kinematics, May 2000, Piran, Slovenia. pp.315-322, ⟨10.1007/978-94-011-4120-8_33⟩. ⟨hal-00990113⟩

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