A hybrid strategy for the time- and energy-efficient trajectory planning of parallel platform manipulators

In planning the trajectories of motor-driven parallel platform manipulators the objective is to identify the trajectory which accomplishes the assigned motion with the minimal travel time and energy expenditure subject to the constraints imposed by the kinematics and dynamics of the manipulator structure In this study the possible trajectories of the manipulator are modeled using a parametric path representation and the optimal trajectory is then obtained using a hybrid scheme comprising the particle swarm optimization method and the local conjugate gradient method The numerical results confirm the feasibility of the optimized trajectories and show that the hybrid scheme is not only more computationally efficient than the standalone particle swarm optimization method but also yields solutions of a higher quality (C) 2010 Elsevier Ltd All rights reserved