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.
Document type :
Conference papers
Liste complète des métadonnées
https://hal.inria.fr/hal-00990113
Contributor : David Daney <>
Submitted on : Tuesday, May 13, 2014 - 10:06:46 AM
Last modification on : Saturday, January 27, 2018 - 1:30:53 AM

Links full text

openaccess

Identifiers

Collections

INRIA | ENPC | PARISTECH

Citation

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⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

128

Contact


archive-ouverte@inria.fr