Kinematic Control for Navigation of Mobile Parallel Robots Applied to Large Structures

In this article we propose a path planning strategy for a parallel climbing robot. The robot must be capable of displacing along an ?a priori? unknown trajectory, i.e. tubes or beams. Firstly we show the characteristics of the proposed robot. Next we briefly review the theoretic tools of parallel platforms, the inverse and forward kinematic needed for the path planning of 6-6 parallel robot. Then a new navigation algorithm for path planning based on the auto-centring of the bases is presented. We also show some simulations of the functioning of the algorithm. Finally, some conclusions and future work is presented.