Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration

摘要: This paper discusses the problem of generating trajectory for a 2-dof parallel manipulator with actuator redundancy. We investigate how to transform speed and torque limits actuators velocity acceleration in end-effector space where desired is normally specified. How these vary over workspace also investigated details particular platform. With limits, automatic generation algorithm traditional x-y table modified suit our Our can automatically generate symmetric straight line point-to-point trapezoidal given start point, end traveling time. If it impossible travel distance within time under shortest will be generated instead.