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REPARTI Seminars


The CerVIM Seminars, Université Laval are held on Fridays at 11:00 a.m.
Please see the program for more details.
Sep 25 2020 11:00AM
Seminar
CeRVIM Webinar: Workspace enlargement and joint trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot
Oct 23 2020 11:45AM
Seminar
CeRVIM Webinar: Semi-automated inspection and monitoring system of tunnels water ingress

 

 

 

REPARTI

MIVIM

Sep 25 2020 11:00AM

Kefei Wen
Laboratoire de robotique
Dép. de génie mécanique, Université Laval

CeRVIM Webinar: Workspace enlargement and joint trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot



Abstract

In this presentation, the workspace and trajectory optimisation of a (6+3)-dof 3-[R(RR-RRR)SR] kinematically redundant hybrid parallel robot is investigated. The inverse kinematics of the robot can be solved analytically and the singularities are easily avoidable. A workspace analysis is provided and it shows that the orientational workspace is very large. Moreover, the redundant degrees of freedom are optimised in order to further expand the workspace. An approach is developed to determine the desired redundant joint coordinates so that a performance index can be minimised approximately when the robot is following a prescribed Cartesian trajectory.

The presentation will be given in English and the slides will be in English.


Zoom Meeting
To obtain the Zoom meeting web link, please contact:
Annette.Schwerdtfeger@gel.ulaval.ca




     
   
   

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