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Title: An experimental validation of collision-free trajectories for parallel manipulators
Authors: Carbone, G.
Gómez-Bravo, F.
Selvi, Özgün
Keywords: Trajectories
Parallel manipulators motion planning
Validation approach
Probabilistic methods
Issue Date: Oct-2012
Publisher: Taylor and Francis Ltd.
Source: Carbone, G., Gómez-Bravo, F., and Selvi, Ö. (2012). An experimental validation of collision-free trajectories for parallel manipulators. Mechanics Based Design of Structures and Machines, 40(4), 414-433. doi:10.1080/15397734.2012.687288
Abstract: This article proposes a systematic approach for validating the trajectories generated by a motion planning method in presence of obstacles for parallel manipulators having less than 6 degrees of freedom (d.o.f.s). The planning algorithm is based on combining a quick random search algorithm together with an optimization method, which aims to obtain feasible and reliable trajectories. The validation approach uses a probabilistic method, which includes Kalman filtering of experimental data. Experimental tests have been carried out by operating a Cassino Parallel Manipulator (CaPaMan) prototype at LARM in Cassino. Results are reported and discussed to show the effectiveness of the proposed approach to generate and validate suitable collision-free trajectories for parallel manipulators. © 2012 Taylor & Francis Group, LLC.
ISSN: 1539-7734
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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