Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

Almas Shintemirov, Aibek Niyetkaliyev, Matteo Rubagotti

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion based on the configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.

Original languageEnglish
Article number7229355
Pages (from-to)98-109
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Volume21
Issue number1
DOIs
Publication statusPublished - Feb 1 2016

Fingerprint

Servomotors
Manipulators
Kinematics
Trajectories
Convex optimization
Position control

Keywords

  • motion planning
  • optimal control
  • optimization methods
  • robot kinematics
  • Spherical parallel manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions. / Shintemirov, Almas; Niyetkaliyev, Aibek; Rubagotti, Matteo.

In: IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 1, 7229355, 01.02.2016, p. 98-109.

Research output: Contribution to journalArticle

@article{a9a116d6c2ff4f4bbb6e209c56f2c9dc,
title = "Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions",
abstract = "This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion based on the configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.",
keywords = "motion planning, optimal control, optimization methods, robot kinematics, Spherical parallel manipulators",
author = "Almas Shintemirov and Aibek Niyetkaliyev and Matteo Rubagotti",
year = "2016",
month = "2",
day = "1",
doi = "10.1109/TMECH.2015.2474707",
language = "English",
volume = "21",
pages = "98--109",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",

}

TY - JOUR

T1 - Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

AU - Shintemirov, Almas

AU - Niyetkaliyev, Aibek

AU - Rubagotti, Matteo

PY - 2016/2/1

Y1 - 2016/2/1

N2 - This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion based on the configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.

AB - This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the orientation of the SPM top mobile platform. Then, a configuration space for the SPM is defined by using numerical procedures, in order to guarantee the absence of singularities and of collisions between links during the motion of the manipulator. Finally, reference trajectories of the servomotors are defined via convex optimization. These trajectories determine an optimal evolution of the SPM motion based on the configuration space and original servomotor dynamics. The proposed strategy is experimentally demonstrated on a prototype of Agile Wrist SPM with three servomotors.

KW - motion planning

KW - optimal control

KW - optimization methods

KW - robot kinematics

KW - Spherical parallel manipulators

UR - http://www.scopus.com/inward/record.url?scp=84961916324&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84961916324&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2015.2474707

DO - 10.1109/TMECH.2015.2474707

M3 - Article

AN - SCOPUS:84961916324

VL - 21

SP - 98

EP - 109

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 1

M1 - 7229355

ER -