Time-Optimal Trajectory Planning of a Redundantly Actuated Planar Parallel Robot Driven with Series Elastic Actuators
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
93rd Annual Meeting of the International Association of Applied Mathematics and Mechanics
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
This paper addresses the time-optimal trajectory planning of a redundantly actuated parallel robot driven by series elastic
actuators. Here, the actuation redundancy allows prestressing the elastic components of the drives and enables more degrees
of freedom in the trajectory planning. To this end, a time-optimal control problem is formulated that takes also the physical
constraints into account, i. e. actuation torques, task and joint space limits and self-collisions. A flatness-based parametrization
of the dynamics is used in the nonlinear optimization problem and solved with the multiple shooting technique within the
CasADi framwork using IPOPT as a solver. Results are shown and compared to time-optimal trajectories, both redundantly
and non-redundantly actuated with rigid drives.