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A multi-objective trajectory planning method for redundantly actuated parallel manipulator under hybrid force and position control is proposed considering the coordination of its driving forces. Combining inverse kinematics analysis, the driving force coordination of the manipulator is analyzed using the virtual work principle. On this basis, the B-spline curve is used to plan the motion trajectory of the end-effector of the manipulator in the Cartesian space. Subsequently, the driving force coordination, total motion time, and maximum absolute value of the jerk impulse of the actuator are defined as objective functions, and a multi-objective optimization problem is solved using the multi-objective particle swarm algorithm (MOPSO). Finally, the potential optimal solution is selected by constructing a comprehensive optimal evaluation function. The trajectory simulation results verify that the trajectory planning method is effective and universal.

Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator Under Hybrid Force and Position Control