In this paper the functional redundancy of a spherical parallel manipulator performing a pointing task is exploited to optimize its posture upon minimizing dynamic index. A general method to derive the inertia matrix reduced to the mobile platform via screw theory is presented. This matrix encases geometrical and inertial information of all the bodies and it allows a simple computation of dynamic indices due to its feature of being dependent only on the pose of the robot. The indices are used to compute the objective function of the optimization problem, while the orientation of the pointing task constitutes the constraint equations. The posture-optimization is used as a redundancy resolution and it is extended to any pointing direction. Optimal postural maps are obtained and then used to drive the optimal planning of pointing trajectories by using Bezier curves. To this aim, a higher level optimization problem than previous one is solved and inverse dynamic simulations are conducted to verify the results.
Dynamic optimization of pointing trajectories exploiting the redundancy of parallel wrists / Corinaldi, David; Callegari, Massimo; Palpacelli, Matteo-Claudio; Palmieri, Giacomo; Carbonari, Luca. - CD-ROM. - 5A:(2017), p. V05AT08A028. (Intervento presentato al convegno ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - 41st Mechanisms and Robotics Conference tenutosi a Cleveland, Ohio, USA nel August 6–9, 2017) [10.1115/DETC2017-67546].
Dynamic optimization of pointing trajectories exploiting the redundancy of parallel wrists
Callegari, MassimoSupervision
;Palpacelli, Matteo-ClaudioConceptualization
;Palmieri, GiacomoMethodology
;Carbonari, LucaFormal Analysis
2017-01-01
Abstract
In this paper the functional redundancy of a spherical parallel manipulator performing a pointing task is exploited to optimize its posture upon minimizing dynamic index. A general method to derive the inertia matrix reduced to the mobile platform via screw theory is presented. This matrix encases geometrical and inertial information of all the bodies and it allows a simple computation of dynamic indices due to its feature of being dependent only on the pose of the robot. The indices are used to compute the objective function of the optimization problem, while the orientation of the pointing task constitutes the constraint equations. The posture-optimization is used as a redundancy resolution and it is extended to any pointing direction. Optimal postural maps are obtained and then used to drive the optimal planning of pointing trajectories by using Bezier curves. To this aim, a higher level optimization problem than previous one is solved and inverse dynamic simulations are conducted to verify the results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
