Optimal Trajectory Planning of a Six DOF Parallel Stewart Manipulator

摘要

This article introduces a nonlinear dynamic optimization procedure for trajectory planning of a spatial parallel Stewart-Gough manipulator. The planning process is composed of minimizing the energy consumption of actuators and accuracy error in end-effector positioning subject to the kinematic and dynamic constraints. A numerical solving procedure based on finite element method is being used as the optimization tool. The dynamics of this manipulator are obtained by virtue of Lagrange's method and results has been obtained by developing a program in MATLAB software to simulate Stewart-Gough manipulator and design an optimal path using collocation method.