A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

Show simple item record

dc.identifier.uri http://dx.doi.org/10.15488/2656
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/2682
dc.contributor.author Abdellatif, Houssem
dc.contributor.author Heimann, Bodo
dc.date.accessioned 2018-01-29T10:20:23Z
dc.date.available 2018-01-29T10:20:23Z
dc.date.issued 2008
dc.identifier.citation Abdellatif, H.; Heimann, B.: A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators. In: Robotica 26 (2008), Nr. 5, S. 679-689. DOI: https://doi.org/10.1017/S0263574708004311
dc.description.abstract The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined "next-singularity" function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples. © 2008 Cambridge University Press. eng
dc.language.iso eng
dc.publisher Cambridge : Cambridge University Press
dc.relation.ispartofseries Robotica 26 (2008), Nr. 5
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
dc.subject Heuristics eng
dc.subject Mechanism singulary eng
dc.subject Motion planning eng
dc.subject Parallel manipulators eng
dc.subject Heuristic algorithms eng
dc.subject Manipulators eng
dc.subject Motion planning eng
dc.subject Robotics eng
dc.subject Heuristics eng
dc.subject Mechanism singulary eng
dc.subject Parallel manipulators eng
dc.subject Singularity-free eng
dc.subject Robots eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators
dc.type article
dc.type Text
dc.relation.issn 0263-5747
dc.relation.doi https://doi.org/10.1017/S0263574708004311
dc.bibliographicCitation.issue 5
dc.bibliographicCitation.volume 26
dc.bibliographicCitation.firstPage 679
dc.bibliographicCitation.lastPage 689
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


Files in this item

This item appears in the following Collection(s):

Show simple item record

 

Search the repository


Browse

My Account

Usage Statistics