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Title: Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions
Authors: Shintemirov, A.
Niyetkaliyev, A.
Rubagotti, Matteo
First Published: 28-Aug-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE), United States
Citation: IEEE-ASME Transactions on Mechatronics, PP(99)
Abstract: This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion, based on configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.
DOI Link: 10.1109/TMECH.2015.2474707
ISSN: 1083-4435
eISSN: 1941-014X
Version: Post-print
Status: Peer-reviewed
Type: Journal Article
Rights: Copyright © 2015, Institute of Electrical and Electronics Engineers (IEEE). Deposited with reference to the publisher’s archiving policy available on the SHERPA/RoMEO website.
Description: (c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Appears in Collections:Published Articles, Dept. of Engineering

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