سال انتشار: ۱۳۸۹
محل انتشار: نخستین همایش منطقه ای مهندسی مکانیک
تعداد صفحات: ۴
R. Alibakhshi – Department of Mechanical Engineering, Babol Nooshirvani University of Technology
S. M. Kazemi – Department of Mechanical Engineering, Babol Nooshirvani University of Technology
Robot control for singular points avoidances based on learning and prediction of their coordinates in the next time, is one of the most important method in kinematics and dynamics of robots. This paper presents a simple and novel method for parallel manipulator singularityfree path. A modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel robot. The polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a smooth path avoiding the singularities. This proposed algorithm can specify the optimized path criteria with maximum average of condition number for all path points. An artificial neural network is implemented to solve forward kinematics of the manipulator to estimate the distance between gripper and singularity. The simulating results prove the efficiency of the proposed algorithm.