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 |
eng |
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 |
|