A comparison between two motion planning strategies for kinematically redundant parallel manipulators

Abstract

In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors. First, motion planning is defined and thereafter overall motion planning (OMP) is introduced. OMP consists of determining actuation schemes that optimise the manipulator's performance while considering the entire given trajectory of the end-effector at once. Next, the OMP method is compared to point-to-point motion planning. Two examples are given to compare the results of both methods. It is shown that the proposed OMP method can generate actuation schemes for given trajectories such that the manipulator avoids singular configurations. © 2008 Springer Science+Business Media B.V.