Optimal Path Planning for a Dynamic Platform

This paper presents a complete modelling, singularity characterization and path planning design for a newly developed 3 legs 6 degree-of-freedoms (DOFs) parallel manipulator. In the presented architecture, the base platform has three linear slideways actuated respectively by a linear DC motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive AC servo motor. Special emphasis is put on characterizing the platform singularity characterization and singularity avoidance of the moving platform path planning based on DNA algorithms. A new path planning scheme is proposed which uses a DNA search algorithm, whose coding technique speeds up the execution of DNA search, for fast path generation on the available workspace. Copyright © 2005 IFAC