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Title: Trajectory planning for a redundant planar laser-cutting machine with macro-micro manipulation
Authors: Uzunoğlu, Emre
Dede, Mehmet İsmet Can
Kiper, Gökhan
Keywords: Trajectory planning
Redundant manipulator
Redundancy resolution
Macro-micro manipulator
Issue Date: Oct-2015
Publisher: IFToMM
Abstract: Kinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised by using kinematically different two mechanisms with different advantages. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. In this work, a macro mechanism with larger workspace is used along with a micro mechanism that has higher dynamics and lower inertia. A trajectory planning algorithm integrated with the control structure making use of the previously defined advantages of both mechanisms is explained in this paper. A case study is provided to validate the developed algorithm.
ISBN: 9789860460988
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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