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Optimal Trajectory Planning of a 5-Axis Machine-Tool Based on a 6-Axis Parallel Manipulator

  • Merlet J
  • Perng M
  • Daney D
Springer Netherlands, (2000), 315-322
DOI: 10.1007/978-94-011-4120-8_33
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Abstract

Many new machine-tool are based on a parallel robot with 6 DoF, while only 5 of them are needed as the rotation of the end-effector around its normal is not used. We propose an algorithm to determine the values of the extra DoF such that a trajectory lie within the...

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Merlet, J.-P., Perng, M.-W., & Daney, D. (2000). Optimal Trajectory Planning of a 5-Axis Machine-Tool Based on a 6-Axis Parallel Manipulator. In Advances in Robot Kinematics (pp. 315–322). Springer Netherlands. https://doi.org/10.1007/978-94-011-4120-8_33

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