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Erschienen in:
2019 | OriginalPaper | Buchkapitel
5. Motion Planning for the 3\(\text {S}_\text {n}\!\!\) PU Robot
verfasst von : Patrick Grosch, Federico Thomas
Erschienen in: Parallel Robots With Unconventional Joints
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Abstract
The kinetostatics of the 3\(\text {S}_\text {n}\!\!\) PU robot allowed us, in the previous chapter, to prove that this robot is able to locally move its moving platform—within some regions—in a six-dimensional configuration space. In this chapter we go a step further by presenting a solution to the motion planning problem which can be adapted to other non-holonomic parallel robots. This chapter presents some results obtained in cooperation with professors Krzysztof Tchoń and Janusz Jakubiak from Wrocław University of Technology, Poland, which already appeared in [3].