Workspace Enlargement and Joint Trajectory Optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] Kinematically Redundant Hybrid Parallel Robot

In this presentation by Kefei Wen, of Université Laval’s Robotics Laboratory, the workspace and trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot is investigated.

Date
  • 25 September 2020
Time

11h00 to 12h00

Location

Online

Cost

Free

Abstract of the presentation

In this presentation, the workspace and trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot is investigated. The inverse kinematics of the robot can be solved analytically and the singularities are easily avoidable. A workspace analysis is provided and it shows that the orientational workspace is very large. Moreover, the redundant degrees of freedom are optimised in order to further expand the workspace. An approach is developed to determine the desired redundant joint coordinates so that a performance index can be minimised approximately when the robot is following a prescribed Cartesian trajectory.

Let’s keep in touch!

Would you like to be informed about IID news and activities? Subscribe now to our monthly newsletter.