A Generic Trajectory Verifier for the Motion Planning of Parallel Robots

摘要

In this paper we consider the problem of trajectory verification for a classical Gough-Stewart platform i.e. we want to verify if a given trajectory obeys various criteria which define its validity, for example that the trajectory lies fully inside the workspace of the robot and is singularity-free. We propose an almost real-time method that may deal with almost any trajectory and any validity criterion and can manage uncertainties on the specified trajectory, for example to take into account control errors.