Hostname: page-component-7b7567c8c-7pwfn Total loading time: 0 Render date: 2026-11-14T10:07:25.818Z Has data issue: false hasContentIssue false
  • English
  • Français

A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

Published online by Cambridge University Press:  01 September 2008

Houssem Abdellatif and
Bodo Heimann
Houssem Abdellatif*
Affiliation:
Institute of Robotics, Hannover Center of Mechatronics, Appelstr. 11, D-30167 Hannover, Germany
Bodo Heimann
Affiliation:
Institute of Robotics, Hannover Center of Mechatronics, Appelstr. 11, D-30167 Hannover, Germany
*
*Corresponding author. E-mail: abdellatif@ifr.uni-hannover.de, heimann@ifr.uni-hannover.de
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined “next-singularity” function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

Keywords

Parallel manipulatorsMotion planningHeuristicsMechanism singulary

Information

Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008, pp. 679 - 689
Copyright
Copyright © Cambridge University Press 2008

References

1.Latombe, J.-C., Robot Motion Planning (Kluwer Academic Publishers, Boston, 1991).CrossRefGoogle Scholar
2.Siméon, T., Laumond, J. P., Cortes, J. and Sahbani, A., “Manipulation planning with probabilistic roadmaps,” Int. J. Robotics Res. 23 (7), 729–746 (2004).CrossRefGoogle Scholar
3.Mages, D., Hein, B. and Wörn, H., “Introduction of additional information to heuristic path planning algorithms,” In: Proceedings of the International Conference on Mechatronics and Robotics 2004, MechRob2004, Aachen, Germany (2004) pp. 1028–1033.Google Scholar
4.LaValle, S. M., Yakey, J. H. and Kavraki, L. E., “A probabilistic roadmap approach for systems with closed kinematic chains,” InProceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI (1999) pp. 1671–1676.Google Scholar
5.Yakey, J. H., La Valle, S. M. and Kavraki, L. E., “Randomized planning for linkages with closed kinematic chains,” IEEE Trans. Robotics Automation 17 (6), 951–958 (2001).CrossRefGoogle Scholar
6.Cortes, J. and Simeon, T., “Sampling-based motion planning under kinematic loop closure constraints,” InProceedings of the Workshop on the Algoritmic Foundations of Robotics, WAFR 2004, Utrecht, the Netherlands (2004) pp. 59–74.Google Scholar
7.Bayazit, O. B., Xie, D. and Amato, N. M., “Iterative relaxation of constraints: A framework for improving automated motion planning,” InProceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2005, Edmonton, Canada (2005) pp. 3433–3440.Google Scholar
8.Trinkle, J. C. and Milgram, R. J., “Complete path planning for closed kinematic chains with spherical joints,” Int. J. Robotics Res. 21 (9), 773–789 (2002).CrossRefGoogle Scholar
9.Merlet, J.-P., “A generic trajectory verifier for the motion planning of parallel robots,” J. Mech. Des. 123 (4), 510–515 (2001).CrossRefGoogle Scholar
10.Merlet, J.-P., “Guaranteed in-the-workspace improved trajectory/surface/volume verification for parallel robots,” InProceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA (2004) pp. 4103–4108.Google Scholar
11.Jui, C. K. K. and Sun, Q., “Path trackability and verification for parallel manipulators,” InProceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan (2003) pp. 4336–4341.Google Scholar
12.Dasgupta, B. and Mruthyunjaya, T. S., “Singularity-free path planning for the stewart platform manipulator,” Mech. Machine Theory 33 (6), 711–725 (1998).CrossRefGoogle Scholar
13.Dash, A. K., Chen, I.-M., Yeo, S. H. and Yang, G., “Workspace generation and planning singularity-free path for parallel manipulators,” Mech. Machine Theory 40 (7), 776–805 (2005).CrossRefGoogle Scholar
14.Denkena, B., Heimann, B., Abdellatif, H. and Holz, C., “Design, modeling and advanced control of the innovative parallel manipulator palida,” InProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM2005, Monterrey, USA (2005) pp. 632–637.Google Scholar
15.de Berg, M., de Kreveld, M. and Overmars, M., Computational Geometry, Algorithms and Applications, 2nd ed. (Springer-Verlag, Berlin, 2000).CrossRefGoogle Scholar
16.Merlet, J.-P., Parallel Robots, Solid Mechanics and Its Applications (Kluwer Academic Publishers, Dordrecht, 2000).Google Scholar
17.Kondo, K., “Motion planning with six degrees of freedom by multistrategic bidirectional heuristic free-space enumera-tion,” IEEE Trans. Robotics Automation 7 (3), 267–277 (1991).CrossRefGoogle Scholar
18.Isto, P., “A two-level search algorithm for motion planning,” InProceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, USA (1997) pp. 2025–2031.Google Scholar
19.Dash, A. K., Chen, I.-M., Yeo, S. H. and Yang, G., “Singularity-free path planning of parallel manipulators using clustering algorithm and line geometry,” InProceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan (2003) pp. 761–766.Google Scholar
20.Merlet, J.-P., “Trajectory verification of parallel manipulators in the workspace,” InProceedings of the 1994 IEEE International Conference on Robotics and Automation, New Orleans, LA (1994) pp. 2166–2171.Google Scholar
21.Bonev, I., Geometric analysis of parallel mechanisms, Ph.D. thesis, Faculté des études supérieures de l'Université Laval (Nov. 2002).Google Scholar
22.Gosselin, C. and Angeles, J., “Singularity analysis of closed-loop kinematic chains,” IEEE Trans. Robotics Automation 6 (3), 281–290 (1990).CrossRefGoogle Scholar
23.Abdellatif, H. and Heimann, B., “Adapted time-optimal trajectory planning for parallel manipulators with full dynamics modelling,” InProceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (2005) pp. 413–418.Google Scholar