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Conference Papers Year : 2000

Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator

Abstract

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.

Dates and versions

hal-00990113 , version 1 (13-05-2014)

Identifiers

Cite

Jean-Pierre Merlet, M.-W. Perng, David Daney. Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator. International symposium on Advances in robot kinematics, May 2000, Piran, Slovenia. pp.315-322, ⟨10.1007/978-94-011-4120-8_33⟩. ⟨hal-00990113⟩
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