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Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator
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.
https://hal.inria.fr/hal-00990113
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Tuesday, May 13, 2014 - 10:06:46 AM
Last modification on : Friday, February 4, 2022 - 3:09:21 AM
Contributor : David Daney Connect in order to contact the contributor
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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