Reliable motion planning for parallel manipulators

Autor(es)

Vieira, Hiparco Lins ^[1] ; Wajnberg, Eric ^{[2, 3]} ; Beck, Andre Teofilo ^[1] ; da Silva, Maira Martins ^[1]

Afiliação do(s) autor(es)

^[1] Univ Sao Paulo, Sao Carlos Engn Sch, Av Trab Sao Carlense 400, Parque Arnold Schimidt, Sao Carlos, SP - Brazil

^[2] INRA, 400 Route Chappes, BP 167, F-06903 Sophia Antipolis - France

^[3] INRIA, Projet Hephaistos, 2004 Route Lucioles, BP 93, F-06902 Sophia Antipolis - France

• Tipo de documento: Artigo Científico
• Fonte: MECHANISM AND MACHINE THEORY; v. 140, p. 553-566, OCT 2019.
• Citações Web of Science: 1

Resumo

Geometric uncertainties may jeopardize the performance of parallel manipulators, especially during motion planning. Recent research demonstrated that, during motion planning and due to uncertainties, manipulators may accidentally assume low performance or singular configurations. Thus, reliable motion planning algorithms are required. Very few algorithms were proposed to avoid such problem in parallel manipulators. This paper presents a reliable motion planning technique. First, failure modes are defined. Then, a Monte Carlo simulation is used to provide information on how the manipulator's uncertainties affect its conditioning. Based on this simulation, probabilities of failure are computed for several manipulator workspace configurations. After that, an artificial neural network metamodel is trained to overcome Monte Carlo's computational inefficiency on the failure probability estimation. This metamodel is assessed by an iterative strategy that exploits genetic operators to compute optimal trajectories avoiding regions that are considerably affected by uncertainties. Due to its modular methodology, the technique can be easily adapted for different applications. A 3 (R) under bar RR manipulator is used as a case study. (C) 2019 Elsevier Ltd. All rights reserved. (AU)

• Processo FAPESP: 18/21336-0 - Alcançando altas acelerações com manipuladores paralelos, Fase II: instrumentação, modelagem e controle de um manipulador flexível
• Beneficiário: Maira Martins da Silva
• Modalidade de apoio: Auxílio à Pesquisa - Regular
• Processo FAPESP: 14/01809-0 - Alcançando altas acelerações com manipuladores robóticos planares, Fase I: redundância cinemática
• Beneficiário: Maira Martins da Silva
• Modalidade de apoio: Auxílio à Pesquisa - Regular