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
2 Tsing Hua University
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.
Type de document :
Communication dans un congrès
Jadran Lenarcic and Michael M. Stanisic. International symposium on Advances in robot kinematics, May 2000, Piran, Slovenia. Springer, pp.315-322, 2000, 〈10.1007/978-94-011-4120-8_33〉
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https://hal.inria.fr/hal-00990113
Contributeur : David Daney <>
Soumis le : mardi 13 mai 2014 - 10:06:46
Dernière modification le : samedi 27 janvier 2018 - 01:30:53

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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. Jadran Lenarcic and Michael M. Stanisic. International symposium on Advances in robot kinematics, May 2000, Piran, Slovenia. Springer, pp.315-322, 2000, 〈10.1007/978-94-011-4120-8_33〉. 〈hal-00990113〉

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