Time-Optimal Trajectory Planning of a Redundantly Actuated Planar Parallel Robot Driven with Series Elastic Actuators

Description

This paper addresses the time-optimal trajectory planning of a redundantly actuated parallel robot driven by series elastic actuators. Here, the actuation redundancy allows prestressing the elastic components of the drives and enables more degrees of freedom in the trajectory planning. To this end, a time-optimal control problem is formulated that takes also the physical constraints into account, i. e. actuation torques, task and joint space limits and self-collisions. A flatness-based parametrization of the dynamics is used in the nonlinear optimization problem and solved with the multiple shooting technique within the CasADi framwork using IPOPT as a solver. Results are shown and compared to time-optimal trajectories, both redundantly and non-redundantly actuated with rigid drives.

Period	01 Jun 2023
Event title	93rd Annual Meeting of the International Association of Applied Mathematics and Mechanics
Event type	Conference
Location	GermanyShow on map