Trajectory Planning for 6-PPPS Orthogonal 6-DOF Parallel Robot

Aiming at a new type 6-PPPS parallel robot,a new way for attitude expression is proposed in this paper.The definition of driving attitude-space is given at the same time.The method of attitude path planning is proposed based on the driving attitude-space.The method can guarantee the attitude fluctuation with in the allowance range.To deal with the attitude path,the constraint conditions of satisfying the path is solved by the trajectory planning of joint space.