Kinematic Control for Navigation of Mobile Parallel Robots Applied to Large Structures

Abstract

Kinematic Control for Navigation of Mobile Parallel Robots Applied to Large Structures Rafael Aracil, Miguel Almonacid, Roque J. Saltaren, Jose Ma Sabater, Jose Ma Azorin Pages 1-7 (2000 Proceedings of the 17th ISARC, Taipei, Taiwan, ISBN 9789570266986, ISSN 2413-5844) Abstract: In this article we propose a path planning strategy for a parallel climbing robot. The robot must be capable of displacing along an ?a priori? unknown trajectory, i.e. tubes or beams. Firstly we show the characteristics of the proposed robot. Next we briefly review the theoretic tools of parallel platforms, the inverse and forward kinematic needed for the path planning of 6-6 parallel robot. Then a new navigation algorithm for path planning based on the auto-centring of the bases is presented. We also show some simulations of the functioning of the algorithm. Finally, some conclusions and future work is presented. Keywords: Robotics, construction robots, path planning, navigation, control DOI: https://doi.org/10.22260/ISARC2000/0106 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley