Parallel PnP Robots

Abstract

Trajectory synthesis: In the trajectory planning of robotic manipulators, the generated paths are usually expressed in the geometric curves of NURBS, polynomial curve and S-curve.In general, synthesizing the trajectory is based on geometric and dynamic constraints imposed by the task and working environment to achieve minimization of execution time, energy consumption and acceleration/jerk, along a smooth and continuous curve.The contents presented in this book include the research output produced by the author in the last five years and aim to provide the instructions and references for the researchers, engineers, master and Ph.D. candidates in the field of robotics, focusing on the trajectory planning and control design of parallel PnP robots.The presented models, algorithms, methodologies and results are applicable to the general parallel manipulators and industrial robots.