2000 | OriginalPaper | Buchkapitel
Optimal Trajectory Planning of a 5-Axis Machine-Tool Based on a 6-Axis Parallel Manipulator
verfasst von : J.-P. Merlet, M.-W. Perng, D. Daney
Erschienen in: Advances in Robot Kinematics
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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Many new machine-tool are based on a parallel robot with 6 DoF, while only 5 of them are needed as the rotation of the end-effector around its normal is not used. We propose an algorithm to determine the values of the extra DoF such that a trajectory lie within the workspace of the robot, is singularity-free and furthermore optimise an arbitrary criterion.