CeRVIM Webinar: Workspace enlargement and joint trajectory optimization of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot
Laboratoire de robotique
Dép. de génie mécanique, Université Laval
25 septembre 2020, 11h00
Résumé / Abstract
In this presentation, the workspace and trajectory optimization of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot is investigated. The inverse kinematics of the robot can be solved analytically and the singularities are easily avoidable. A workspace analysis is provided and it shows that the orientational workspace is very large. Moreover, the redundant degrees of freedom are optimized in order to further expand the workspace. An approach is developed to determine the desired redundant joint coordinates so that a performance index can be minimized approximately when the robot is following a prescribed Cartesian trajectory.
The presentation will be given in English and the slides will be in English.
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