Path planning for assembly mode changes for the 3-RRR using global workspace roadmaps

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Path planning for assembly-mode changes in the joint space for parallel manipulators is a challenging task due to parallel singularities. The process is made even more difficult by multiple direct kinematic solutions that these manipulators generally exhibit, especially for manipulators with a high number of degrees of freedom. This paper proposes a path planning scheme to tackle this problem; a hierarchical path planning method that uses a global workspace roadmap. It is a very powerful tool which allows us to efficiently determine path feasibility in joint space and to find the existence of possible assembly-mode changes. However in our previous works, it has only been shown to be viable on 2-DOF manipulators. With enhancements to the algorithm, the proposed path planning process is applied to the 3-RRR, a 3-degree of freedom parallel manipulator which exhibits up to 6 direct kinematics solutions in its joint space. Through numerical experiments, we show that the global workspace roadmap allows us to check path validity of a proposed assembly-mode change in 3-degrees of freedom that is viable in both time and memory constraints.

Original languageEnglish
Title of host publicationProceedings of Australasian Conference on Robotics and Automation (ACRA2014)
Subtitle of host publicationMelbourne, Australia; 2-4 December 2014
EditorsDenny Oetomo, Chao Chen
Place of PublicationSydney Australia
PublisherAustralian Robotics & Automation Association
Number of pages10
ISBN (Electronic)9780980740448, 9780980740455
ISBN (Print)9781510813700
Publication statusPublished - 2014
EventAustralasian Conference on Robotics and Automation 2014 - Melbourne, Australia
Duration: 2 Dec 20144 Dec 2014


ConferenceAustralasian Conference on Robotics and Automation 2014
Abbreviated titleACRA 2014
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