Computation of Dynamic Joint Reaction Forces of PKM and its Use for Load-Minimizing Trajectory Planning
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
IEEE International Conference on Robotics and Automation (ICRA)
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
Parallel kinematics machines (PKM) operate with
maximal acceleration being designed for highly dynamic ma-
nipulation tasks. This leads to extreme loads of the joints,
which is usually not accounted for in the motion planning. In
this paper an extended inverse dynamics method is introduced,
which allows computing the joint reaction forces along with the
actuation torques, and provides a basis for time optimal motion
planning and control minimizing wear of the components. To
this end, PKM are modeled using absolute coordinates. The
joint constraints are complemented with servo constraints so
that the motion can be described by the actuator motion or by
the end-effector motion. The presented method is particularly
advantageous when certain model parameters are unknown and
allows for model simplification, which would not be possible
for the relative coordinate formulation. The sparsity of the
obtained velocity constraint Jacobian matrix, due to the use of
absolute coordinates, can be efficiently exploited to minimize
computation time. The method is demonstrated and numerical
results are reported for a time-optimal pick and place movement
of a 4-DOF Delta robot
Forschungs-